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Robust control scheme for electrohydraulic servo systems using extended sliding mode observer

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Abstract

This paper addresses the robust control scheme for electrohydraulic servo systems (EHSS) with system uncertainties by utilizing a novel extended sliding mode observer (ESMO). The state-space model of the EHSS is derived by considering system uncertainties. The ESMO with only the displacement feedback signal is employed to estimate both the system full-state and the unmodelled system uncertainties. What’s more, with estimation values from the ESMO, a robust control scheme (RCS) is addressed in detail for the EHSS by employing the multiple-surface sliding control (MSSC) architecture. In addition, three proper boundary layers are properly employed to suppress the chattering phenomenon in the control input so that the controller can achieve a smooth sliding manifold. Subsequently, a proper Lyapunov function is defined to prove the stability of the closed-loop. Comparative simulation and experimental results prove the efficiency of the proposed control methodology.

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Acknowledgements

This work was supported in part by the Key Project of National Natural Science Foundation of China (No. U21A20125), in part by the Shandong Provincial Natural Science Foundation (No. ZR2021QE107), in part by the Coal Mine Safety Mining Equipment Innovation Center of Anhui Province (No. CMSMEICAP2023007) and the Shanxi Province Public Bidding Project (20201101010).

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Authors and Affiliations

  1. School of Information and Control Engineering, Qingdao University of Technology, Qingdao, 266520, China

    Wanshun Zang

  2. School of Mechanical Engineering, Anhui University of Science and Technology, Huainan, 232001, China

    Gang Shen

  3. College of Transportation, Shandong University of Science and Technology, Qingdao, 266590, China

    Jun Zhao

  4. School of Mining Engineering, Anhui University of Science and Technology, Huainan, 232001, China

    Xiao Chen

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  1. Wanshun Zang
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Correspondence to Wanshun Zang.

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Zang, W., Shen, G., Zhao, J. et al. Robust control scheme for electrohydraulic servo systems using extended sliding mode observer. J Braz. Soc. Mech. Sci. Eng. 46, 294 (2024). https://doi.org/10.1007/s40430-024-04840-y

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