Adaptive force tracking in electrohydraulic system with first-order sliding mode control

Abstract

An approximate system model for force tracking has been formulated here for a low-cost electrohydraulic system with a moderate-friction single-rod cylinder and a large-deadband proportional valve. A controller based on first-order sliding mode along with adaptation of controller parameters through Lyapunov functions has been developed to tackle the severe nonlinearities of the system. The system model has been recast in an input linearized form to develop the controller. A number of real-time experimental studies clearly established the controller as quite satisfactory.