Change search
ReferencesLink to record
Permanent link

Direct link
Input nonlinearity compensation and chattering reduction in a mobile hydraulic forestry crane
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics.
2016 (English)In: Elektrotechnik und Informationstechnik, ISSN 0932-383X, Vol. 133, no 6, 248-252 p.Article in journal (Refereed) Published
Abstract [en]

We present a sliding-mode-based control design for a telescopic link of a mobile-hydraulic forestry crane under bounded modeling uncertainties and external disturbances. Mobile hydraulic systems are typically subject to strong perturbation conditions and the design of resilient control solutions is an important challenge. Furthermore, nonlinear phenomena primarily, characterized by easily excited oscillations, an input nonlinearity, and friction, are dominating the dynamics. The proposed control scheme takes advantage of an input-nonlinearity compensation in order to overcome these problems and includes the formulation of a sliding-mode-control-based design. Two strategies for chattering attenuation are examined aimed at improving the controller performance. Experimental results performed over an industrial setup, including a comparison with a PID controller, confirm the efficacy of the proposed methodology.

Place, publisher, year, edition, pages
Springer, 2016. Vol. 133, no 6, 248-252 p.
Keyword [en]
mobile hydraulics, sliding mode design, chattering attenuation
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
URN: urn:nbn:se:umu:diva-127247DOI: 10.1007/s00502-016-0424-8ISI: 000384882400003OAI: diva2:1045938
Available from: 2016-11-11 Created: 2016-11-03 Last updated: 2016-11-11Bibliographically approved

Open Access in DiVA

fulltext(2307 kB)22 downloads
File information
File name FULLTEXT01.pdfFile size 2307 kBChecksum SHA-512
Type fulltextMimetype application/pdf

Other links

Publisher's full text

Search in DiVA

By author/editor
Freidovich, Leonid B.
By organisation
Department of Applied Physics and Electronics
Electrical Engineering, Electronic Engineering, Information Engineering

Search outside of DiVA

GoogleGoogle Scholar
Total: 22 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

Altmetric score

Total: 37 hits
ReferencesLink to record
Permanent link

Direct link