Adaptive sliding mode position control of electro-hydraulic servo system with single-rod actuators

摘要

An adaptive sliding mode control technique is presented for an electro-hydraulic servo system with single-rod actuators in the presence of uncertain nonlinearities and unknown dynamics in this paper. The influence of different wording area of the single-rod actuator to dynamics of the system is regarded in contrast to double-rod. Some other uncertainties were considered in the technique, and the robust sliding mode controller was designed. The theoretical proof indicates that it can guarantee globally asymptotic stable. The experimental platform was set up, and a pneumatic cylinder was employed to generate variable load. The experimental result shows the control algorithm can not only obtain tracking accuracy of the system and robust to the external disturbances and unknown nonlinearities but also can decrease error in contrast to conventional PID control technique.