Open AccessIntegral Nonsingular Terminal Sliding Mode Control of Hydraulic Servo Actuator Based on Extended State Observer
Author(s) -
Zhenshuai Wan,
Yu Fu
Publication year - 2021
Publication title -
shock and vibration
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.418
H-Index - 45
eISSN - 1875-9203
pISSN - 1070-9622
DOI - 10.1155/2021/5532076
Subject(s) - control theory (sociology) , actuator , state observer , servo , servo control , servomechanism , hydraulic cylinder , controller (irrigation) , lyapunov function , electro hydraulic actuator , parametric statistics , control engineering , observer (physics) , engineering , computer science , mathematics , control (management) , nonlinear system , artificial intelligence , physics , mechanical engineering , agronomy , statistics , quantum mechanics , biology
Hydraulic servo actuator always suffers from various disturbance and uncertainties, which makes it difficult to design a higher performance controller. In this paper, an integral nonsingular terminal sliding mode controller based on extended state observer (ESO-INTSM) is proposed to improve the robust performance of hydraulic servo actuator. The ESO is designed to estimate not only the parametric uncertainties but also the model disturbance. Based on the observed states of ESO, the proposed controllers could enable hydraulic servo actuator to track the desired motion trajectories. The stability of the synthesized controller is proved via Lyapunov analysis, which is very important for high-accuracy tracking control of hydraulic servo actuator. Simulation and experimental results demonstrate that the proposed control strategy can effectively attenuate the adverse influence caused by the uncertainties and apparently improve the tracking accuracy.