4.6 Article

Adaptive Damping Variable Sliding Mode Control for an Electrohydrostatic Actuator

期刊

ACTUATORS
卷 10, 期 4, 页码 -

出版社

MDPI
DOI: 10.3390/act10040083

关键词

electrohydrostatic actuator; adaptive control law; damping variable sliding mode control; extended state observer

资金

  1. Science and Technology Program of Gansu Province [20JR10RA175]

向作者/读者索取更多资源

An adaptive damping variable sliding mode controller is proposed in this study to address the nonlinearity and parametric uncertainties of electrohydrostatic actuators. The controller integrates variable-damping sliding mode control, parametric adaptation, and an extended state observer to effectively capture and compensate for parametric uncertainties, reduce system uncertainties, and estimate and compensate for disturbances with a fast and stable response. Experimental results demonstrate that the controller outperforms widely used methods in overshoot suppression, settling time, and tracking accuracy.
An electrohydrostatic actuator (EHA) is a basic mechanical/hydraulic system with deficiencies including significant nonlinearity and parametric uncertainties. In line with the challenges of designing a high-precision control strategy, an adaptive damping variable sliding mode controller is established, which extends our previous work on EHA control. The proposed controller integrates variable-damping sliding mode control, parametric adaptation, and an extended state observer. The parametric uncertainties are effectively captured and compensated by employing an adaptive control law, while system uncertainties are reduced, and disturbances are estimated and compensated with a fast and stable response. We evaluated the proposed control strategy on a variety of position tracking tasks. The experimental results demonstrate that our controller significantly outperforms the widely used methods in overshoot suppression, settling time, and tracking accuracy.

作者

我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。

评论

主要评分

4.6
评分不足

次要评分

新颖性
-
重要性
-
科学严谨性
-
评价这篇论文

推荐

暂无数据
暂无数据