Adaptive sliding mode controller based on fuzzy rules for a typical excavator electro-hydraulic position control system

In order to improve the trajectory tracking accuracy and robustness of a typical heavy electro-hydraulic position system, a fuzzy adaptive sliding mode controller is proposed. A potential-like function is introduced to design a new sliding surface with non-linear integral term. An adaptive controller is designed to approximate the equivalent controller in sliding mode control. Stability of the controller is demonstrated by Lyapunov method, and the chattering phenomenon caused by the nonlinear switching term is reduced by using the fuzzy switching method, 25 fuzzy rules are given to adjust the sliding mode switching controller. Simulations with sinusoidal, ramp and step signals, and experiments with leveling operation at different speeds are carried out. The proposed controller can follow the reference trajectory quickly and smoothly, and has certain anti-interference ability. Compared with the traditional sliding mode controller, the proposed controller has small tracking error, fast response and good tracking performances.

Automated summary

A fuzzy adaptive sliding mode controller is proposed to enhance the trajectory tracking accuracy and robustness of a heavy electro-hydraulic position system. The controller utilizes a potential-like function to design a new sliding surface with a non-linear integral term. An adaptive controller is employed to approximate the equivalent controller in sliding mode control.