Title: Sliding mode control of a hydraulic servo system position using adaptive sliding surface and adaptive gain

Authors: Emna Kolsi Gdoura; Moez Feki; Nabil Derbel

Addresses: Energy Management Laboratory (CEMLab), Sfax Engineering School, University of Sfax BP 1073, 3038 Sfax, Tunisia ' Energy Management Laboratory (CEMLab), Sfax Engineering School, University of Sfax BP 1073, 3038 Sfax, Tunisia ' Energy Management Laboratory (CEMLab), Sfax Engineering School, University of Sfax BP 1073, 3038 Sfax, Tunisia

Abstract: In this paper, we propose a method to control the position of an electrohydraulic system rod. Our approach consists of using the sliding mode theory. First, we construct an integral sliding mode controller to obtain robustness against constant perturbation. Next, to simplify the controller expression we design an adaptive integral sliding surface. To diminish the unwanted chattering phenomenon due to high gain, we design an adaptive sliding controller that adaptively estimates the sliding gain which ensures sliding mode and will decrease as stability is achieved to decrease the chattering amplitude. All the proposed method's results are illustrated by numerical simulations.

Keywords: electrohydraulic systems; integral SMC; sliding mode control; adaptive estimation; Lyapunov stability; hydraulic servo systems; position control; adaptive sliding surface; adaptive gain; chatter; vibration; adaptive control; controller design; numerical simulation.

DOI: 10.1504/IJMIC.2015.069946

International Journal of Modelling, Identification and Control, 2015 Vol.23 No.3, pp.248 - 259

Published online: 16 Jun 2015 *

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