Fuzzy sliding mode control with state estimation for velocity control system of hydraulic cylinder using a new hydraulic transformer

摘要

In order to solve the control problem of the hydraulic cylinder controlled by a new hydraulic transformer for its parametric coupling and intrinsic nonlinearity, a state estimation based fuzzy sliding mode velocity controller is proposed in this paper. Firstly, the basic principle of new hydraulic transformer is analyzed and the established system model is improved; then external disturbances are estimated by the method of extended state estimation. Moreover, the fuzzy method is combined with the estimation method to compensate the obtained external disturbances, such that the minimization of switching gain can be realized under the condition that the arrival condition of the sliding mode is guaranteed, then fuzzy self-tuning of switching gain is performed. (C) 2018 European Control Association. Published by Elsevier Ltd. All rights reserved.