Tracking Position Control of Electrohydraulic System with Minimum Number of Sensors

In general, feedback controllers require measurements of velocity and acceleration for feedback. To avoid the complexity of overall system with minimizing the sensor number implements on a test bench, a new estimation algorithm of the successive derivatives of measured signal is proposed. The differentiator design is a very difficult task because the important problem in real time differentiation signal is to combine differentiation exactness with robustness in respect of measurements errors and input noises. For this target, a higher order sliding modes differentiator with dynamic gains is proposed. The experimental validation highlights the performances of the differentiator/controller design of a high dynamic electrohydraulic servo-system. For this validation, two controllers are implemented on the test bench for position tracking objective. Moreover, two kinds of differentiators are also tested: the proposed one and some classic algorithm.