Second Order Sliding Mode Control of a Mobile Hydraulic Crane

• A second order sliding mode control design for a mobile hydraulic system, including bounded model uncertainties and external disturbances, is the subject of study. The proposed algorithm provides a continuous control signal, achieving good performance and chattering attenuation in comparison to other sliding-mode-based techniques. The design includes the formulation of a partial stability problem and we provide the required Lyapunov-function-based analysis. Experimental results are performed over an industrial setup and confirm the effectiveness of the methodology. Moreover, promising results of a comparison with the Super-Twisting and PID controllers are presented.

Ämnesord

TEKNIK OCH TEKNOLOGIER  -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)

ENGINEERING AND TECHNOLOGY  -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)

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