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Conventional hydraulic actuator (CHA) systems have been widely used as power units because they can generate very large power compared to their size. In general, a CHA system consists of an electric motor, a pump, a reservoir, various valves, hoses, which are used to transfer the working fluid and an actuator. CHA systems, however, have some problems such as environmental pollution caused by the leakage of the working fluid, maintenance load, heavy weight and limited installation space. These shortcomings can be overcome by compactly integrating the components of CHA systems and by applying a suitable control scheme for the electric motor. To overcome these shortcomings of CHA systems, electro-hydraulic actuator (EHA) systems have been developed, having merits such as smaller size, higher energy efficiency and faster response than existing CHA systems (Kokotovic, 1999). However, for the robust position control of EHA systems, system uncertainties such as the friction between the piston and cylinder and the pump leakage coefficient have to be considered. To solve these system uncertainty problems of EHA systems and to achieve the robustness of EHA systems with system disturbance and bounded parameter uncertainties, Wang et. al. presented a sliding mode control and a variable structure filter based on the variable structure system (Wang, 2005). Perron et. al proposed a sliding mode control scheme for the robust position control of EHA systems showing volumetric capacity perturbation of the pump (Perron, 2005). However, these control methods have some chattering problem due to the variable structure control scheme. The chattering vibrates the system and may reduce the life cycle of the system. Jun et. al. presented a fuzzy logic self-tuning PID controller for regulating the BLDC motor of EHA systems which has nonlinear characteristics such as the saturation of the motor power and dead-zone due to the static friction (Jun, 2004). Chinniah et. al. used a robust extended Kalman filter, which can estimate the viscous friction and effective bulk modulus, to detect faults in EHA systems (Chinniah, 2006). Kaddissi et. al. applied a robust indirect adaptive back-stepping control (ABSC) scheme to EHA systems having perturbations of the viscous friction coefficient and the effective bulk modulus due to temperature variations (Kaddissi, 2006). However, in spite of the variation of the effective bulk modulus due to the temperature and pressure variations, Chinniah et. al. considered

Robust Control of Electro-Hydraulic Actuator Systems Using the Adaptive Back-Stepping Control Scheme