Position tracking control of an electro-hydraulic servo system using sliding mode control

Abstract

This paper evaluates the position tracking performance of an electro-hydraulic hydraulic servo (EHS) system using sliding mode control (SMC). The EHS system is established in modelling process by consider its nonlinearities with a friction model. The control strategy is derived from developed dynamics equation and stability of the control system is theoretically proven by Lyapunov theorem. Simulation results demonstrate the proposed controller is highly robust and capable to cope with the uncertainties and disturbances occur during the position tracking control. It is also shows that the proposed controller can achieve better tracking performance compared with conventional PID controller.