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Time-Varying Gain Differentiator: A Mobile Hydraulic System Case Study
Ålö AB, Brännland 300, SE-90137 Umeå, Sweden.ORCID iD: 0000-0002-1779-7525
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics.
2016 (English)In: IEEE Transactions on Control Systems Technology, ISSN 1063-6536, E-ISSN 1558-0865, Vol. 24, no 5, 1740-1750 p.Article in journal (Refereed) Published
Abstract [en]

In mobile hydraulic systems, velocities are typically not measured. However, using their reliable estimates for feedback is known to allow designing better control laws. We are going to present a specialized technique to compute such estimates using measurements of positions and pressures in the chambers of hydraulic cylinders. With a rough estimate for an upper bound of the second derivative, computed online from pressures, the goal is to find the first derivative of the position signal in the presence of noise. We propose a differentiator with a continuous time-varying gain, constructed from pressure measurements, achieving chattering attenuation without compromising the performance of estimation. The gain is constructively tuned using analysis based on a time-varying Lyapunov function. In addition, the obtained ultimate bounds on differentiation errors provide a criterion for the enhancement of the precision of the proposed algorithm with a constructive design of its parameters. The experimental results over a forestry-standard mobile hydraulic crane confirm the advantages of the methodology.

Place, publisher, year, edition, pages
2016. Vol. 24, no 5, 1740-1750 p.
Keyword [en]
Time-Varying gain differentiator, mobile hydraulic system, second order sliding mode, high-gain oberver, on-line differentiator, velocity observer
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:umu:diva-114522DOI: 10.1109/TCST.2015.2512880ISI: 000381506100017OAI: oai:DiVA.org:umu-114522DiVA: diva2:896676
Funder
The Kempe Foundations, JCK-1239
Available from: 2016-01-22 Created: 2016-01-22 Last updated: 2016-11-30Bibliographically approved

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CiteExportLink to record
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Citation style
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