An Extended Kalman Filter as an Observer in a Sliding Mode Controller for a Metal-Polymer Composite Actuator

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Authors

This paper presents adaptive Sliding Mode Control combined with an Extended Kalman Filter used as an observer to control metal-polymer composite fibers as an actuator. The mechanismus based on the characteristic of the thermoplastic polymer which is coated with silver particles. Usual the interface between the polymer and the silver surface connected by physical or chemical methods to promote strong interactions between metal and polymer. To control this actuator a sliding mode control (SMC) is combined with an Extended Kalman Filter (EKF) and used as an observer. Despite of the particular simplified model of the considered actuator the EKF presents a nonlinear Jacobian Matrix. The parameter setting of system and the measurement covariance matrix together with their initial values are done heuristically. The sliding mode control scheme is designed using the well known Lyapunov approach. The simulation results indicate that the proposed algorithm is effective and robust.

Original languageEnglish
Title of host publicationProceedings of the 2nd International Afro-European Conference for Industrial Advancement, AECIA 2015
EditorsAjith Abraham , Katarzyna Wegrzyn-Wolska , Aboul Ella Hassanien , Vaclav Snasel , Adel M. Alimi
Number of pages10
PublisherSpringer International Publishing AG
Publication date2016
Pages305-314
ISBN (print)978-3-319-29503-9
ISBN (electronic)978-3-319-29504-6
DOIs
Publication statusPublished - 2016
Event2nd International Afro-European Conference for Industrial Advancement - AECIA 2015 - Paris, France
Duration: 09.09.201511.09.2015
Conference number: 2
http://www.aecia.org/#
http://wikicfp.com/cfp/servlet/event.showcfp?eventid=45572&copyownerid=41045

    Research areas

  • Engineering - Nonlinear actuators, Sliding Mode Control, Lyapunov approach, Observer, Extended Kalman Filter