Open AccessCombined motion control of hydraulic boom based on dynamic surface adaptive fuzzy sliding mode
Author(s) -
Pan Rongan,
Du Wenzheng,
He Zhenxin,
Jiang Yue,
Wang Jie
Publication year - 2019
Publication title -
the journal of engineering
Language(s) - English
Resource type - Journals
ISSN - 2051-3305
DOI - 10.1049/joe.2018.8989
Subject(s) - control theory (sociology) , sliding mode control , fuzzy control system , computer science , fuzzy logic , lyapunov function , robustness (evolution) , motion control , control system , hydraulic machinery , control engineering , engineering , nonlinear system , control (management) , artificial intelligence , physics , biochemistry , chemistry , quantum mechanics , robot , gene , mechanical engineering , electrical engineering
The lifting mechanism on the transfer vehicle is a common electromechanical–hydraulic system. In order to overcome the non‐linear and interference that exist in the hydraulic boom combined motion process, a dynamic surface adaptive fuzzy sliding mode control method is proposed. The Lyapunov function and virtual control base on inversion of the sliding mode control are designed, the dynamic surface control is used to calculate the derivative of the virtual control, and the adaptive control is applied to estimate the parameter. Furthermore, the fuzzy control is applied to fuzzification the switching item of the sliding surface. Verified by simulation, the designed sliding mode controller has high control accuracy and strong robustness and eliminates system chatter.