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Force tracking neural block control for an electro‐hydraulic actuator via second‐order sliding mode
Author(s) -
Loukianov Alexander G.,
Sanchez Edgar,
Lizalde Carlos
Publication year - 2008
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.1222
Subject(s) - control theory (sociology) , sliding mode control , controller (irrigation) , actuator , nonlinear system , artificial neural network , trajectory , block (permutation group theory) , variable structure control , mode (computer interface) , tracking (education) , control engineering , engineering , computer science , control (management) , mathematics , artificial intelligence , physics , psychology , pedagogy , geometry , quantum mechanics , astronomy , agronomy , biology , operating system
This paper presents a novel scheme for identification and control of an electro‐hydraulic system using recurrent neural networks. The proposed neural network has the nonlinear block control form structure. A sliding‐mode control technique is applied then to design a discontinuous controller, which is able to track a force reference trajectory. Due to the presence of an unmodelled dynamics, the standard sliding‐mode controller produces oscillations (or ‘chattering’) in the closed‐loop system. The second‐order sliding mode is used to eliminate the undesired chattering effect. Simulations are presented to illustrate the results. Copyright © 2007 John Wiley & Sons, Ltd.