Perfect tracking control of an electro-hydraulic actuator with unknown disturbances

Abstract

This paper presents a robust control technique to improve tracking performance of an electro-hydraulic actuator system in the existence of uncertainties and unknown disturbances. These variables affect the robustness and tracking performance of the system. Sliding mode control is an effective approach for controlling systems with uncertainties and unmeasurable disturbances. A new control law with adaptive switching gain and modified reaching-law approach is proposed to overcome the existence of the uncertainties and the unknown disturbances. The effectiveness of the proposed controller is validated through simulation results. The results indicate that the proposed technique significantly improves the robustness and the tracking performance of the system. This improvement offers a considerable contribution in the control of positioning applications.