SMCSPO based Force Estimation for a Hydraulic Cylinder
- Resource Type
- Conference
- Authors
- Wang Jie; Karam Dad; Min-Cheol Lee
- Source
- 제어로봇시스템학회 국제학술대회 논문집. 2017-10 2017(10):1422-1425
- Subject
- Sliding Mode Control
Perturbation Observer
Hydraulic System
- Language
- Korean
- ISSN
- 2005-4750
Sliding mode control with perturbation observer (SMCSPO) is well known as a robust controller. It has not only the good performance in non-linear control but also a certain accuracy in perturbation estimation. In this paper, SMCSPO is used to control a hydraulic cylinder and observe the perturbation which major is the reaction force from environment. The reaction force estimation is compared with the real force measured by a force/torque sensor for observer evaluation. The evaluation shows the estimated reaction force can be used as a force feedback within some errors.