High precision electro-hydraulic self leveling platform system

Abstract

This paper presents the design process and controlling method for a four-cylinder electro-hydraulic (EH) system. The main contribution of this system is regarding it as a mechatronic plant which includes controller, actuating mechanism, position sensor. In addition the integrated system must be controlled precisely. The control scheme used on this plant is a hybrid controller. It consists of a PID MIMO and a sliding mode controller. Moreover a fuzzy logic base algorithm is applied in order to sustain the synchronization. The performance and accuracy of the control strategy in the presence of parametric uncertainties is confirmed through simulations.