Sliding Mode Control Based on High Gain Observer for Electro-Hydraulic Servo System

Abstract

The electro-hydraulic servo system is widely used in industrial automation fields for its merits of the high force to weight ratio, compact size, and fast response. However, the parameter uncertainties and external disturbances of the electro-hydraulic servo system significantly deteriorate the control performance of conventional linear controller in practice. To deal with this problem, sliding mode controller (SMC) that incorporates high gain observer (HGO) is proposed in this paper. HGO is used to obtain the accurate time derivative of position signal for sliding mode controller design. The stability of the control system is guaranteed by Lyapunov stability theory. Comparation simulation is conducted to validate the effectiveness of the presented control scheme.

Observer-Based Adaptive Sliding Mode Compensation Position-Tracking Control for Drilling Tool Attitude Adjustment

“…Among these methods, SMC is an effective control method for decreasing the disturbances in the nonlinear system because of its strong robustness and quick response [ 22 , 23 ]. For instance, a sliding mode controller with a high-gain observer was designed to improve the system response characteristics of the electrohydraulic system [ 24 , 25 ]. A sliding mode controller with disturbances rejection for the electrohydraulic asymmetric cylinder system is designed to achieve accurate position control and attenuate the disturbances, including model uncertainties, and external disturbance [ 26 ].…”

“…Among these methods, SMC is an effective control method for decreasing the disturbances in the nonlinear system because of its strong robustness and quick response [22,23]. For instance, a sliding mode controller with a high-gain observer was designed to improve the system response characteristics of the electrohydraulic system [24,25].…”

A Walking Trajectory Tracking Control Based on Uncertainties Estimation for a Drilling Robot for Rockburst Prevention

“…Furthermore, sliding mode control (SMC) is selected as an effective control method for achieving expected tracking control performance [14,15], and the chattering phenomenon of the SMC can be reduced by the saturation function [16,17]. A sliding mode controller based on a high-gain observer was designed to improve the control performance [18]. A sliding mode observer-based controller is designed to ensure highly accurate tracking control characteristics [19].…”