Output Feedback-Based Neural Network Sliding Mode Control for Electro-Hydrostatic Systems with Unknown Uncertainties

Abstract

This paper proposes an output feedback-based control for uncertain electro-hydrostatic systems (EHSs) to satisfy high output tracking precision under the influences of unknown mismatched and matched uncertainties and unstructured dynamical behavior. In this configuration, an extended state observer (ESO) is first employed to obtain unmeasured states and suppress the adverse effect of matched uncertainty. Meanwhile, the influence of unstructured dynamical behavior is approximated by employing a radial basis function neural network (RBFNN)-based technique. With the unmeasured states observed, matched uncertainty, and system dynamics compensated, the robust backstepping sliding mode control is accordingly established and the lumped mismatched uncertainty is then suppressed through disturbance observer-based adaptive law. Interestingly, the proposed control methodology requires only output feedback but can address the whole system dynamics. The stability of the closed-loop system is theoretically proven through a Lyapunov theorem and the effectiveness of the proposed methodology is demonstrated through comparative simulations.