Eventos Anais de eventos
COBEM 2019
25th International Congress of Mechanical Engineering
Sliding Modes Control of an Electrohydraulic Actuator Using Compensation by Gaussian Process
Submission Author:
Gabriel de Albuquerque Barbosa Baumann , RN
Co-Authors:
Gabriel de Albuquerque Barbosa Baumann, Gabriel da Silva Lima, Wallace Moreira Bessa
Presenter: Gabriel de Albuquerque Barbosa Baumann
doi://10.26678/ABCM.COBEM2019.COB2019-2028
Abstract
The development of precise control systems for electrohydraulic actuators (EHA) depends on adequate compensation of the unknown dynamic effects. In this work, a Sliding Modes controller is combined with a Gaussian Process compensator to provide adequate trajectory tracking. Gaussian process is a well-known machine learning strategy that can be used in the recognition of functions. The closed-loop convergence properties of the system are analyzed by the Lyapunov Stability Theory. Numerical results confirm a strong improvement in the performance of the controller when the proposed compensator is inserted.
Keywords
control of mechanical and robotic systems, electrohydraulic actuators, Sliding modes, gaussian process regression, machine learning
