An Extended Kalman Filter as an Observer in a Sliding Mode Controller for a Metal-Polymer Composite Actuator
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An Extended Kalman Filter as an Observer in a Sliding Mode Controller for a Metal-Polymer Composite Actuator. / Schimmack, Manuel; Mercorelli, Paolo.
Proceedings of the 2nd International Afro-European Conference for Industrial Advancement, AECIA 2015. ed. / Ajith Abraham ; Katarzyna Wegrzyn-Wolska ; Aboul Ella Hassanien ; Vaclav Snasel ; Adel M. Alimi . Springer International Publishing AG, 2016. p. 305-314 (Advances in Intelligent Systems and Computing; Vol. 427, No. 1).Research output: Contributions to collected editions/works › Article in conference proceedings › Research › peer-review
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TY - CHAP
T1 - An Extended Kalman Filter as an Observer in a Sliding Mode Controller for a Metal-Polymer Composite Actuator
AU - Schimmack, Manuel
AU - Mercorelli, Paolo
N1 - Conference code: 2
PY - 2016
Y1 - 2016
N2 - 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.
AB - 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.
KW - Engineering
KW - Nonlinear actuators
KW - Sliding Mode Control
KW - Lyapunov approach
KW - Observer
KW - Extended Kalman Filter
UR - http://www.scopus.com/inward/record.url?scp=84958259202&partnerID=8YFLogxK
U2 - 10.1007/978-3-319-29504-6_30
DO - 10.1007/978-3-319-29504-6_30
M3 - Article in conference proceedings
SN - 978-3-319-29503-9
T3 - Advances in Intelligent Systems and Computing
SP - 305
EP - 314
BT - Proceedings of the 2nd International Afro-European Conference for Industrial Advancement, AECIA 2015
A2 - Abraham , Ajith
A2 - Wegrzyn-Wolska , Katarzyna
A2 - Hassanien , Aboul Ella
A2 - Snasel , Vaclav
A2 - Alimi , Adel M.
PB - Springer International Publishing AG
T2 - 2nd International Afro-European Conference for Industrial Advancement - AECIA 2015
Y2 - 9 September 2015 through 11 September 2015
ER -