Robust Sliding Mode Position Control of Electro-Hydraulic Servo System

Abstract

This article presents the modeling of position tracking robust control strategy for electro-hydraulic servo (EHS) system. To overcome the strong non-linearities and uncertainties in the EHS system, a robust sliding mode controller is used. The tracking performance of the proposed scheme is evaluated for two different inputs i.e. step and sinusoidal. In addition, the performance is also validated under external disturbance. Another comparative study is performed between the proposed scheme and robust model predictive controller (MPC), H∞ and traditional proportional-integral-derivative (PID) controllers. The simulation results show that the proposed scheme has better tracking performance and robustness under each case.