Sliding Mode Control for Electro-Hydraulic Servo System

Authors

• Shibly Ahmed, Control & Systems Engineering Department, University of TechnologyFollow
• Shaymaa Mahmood Mahdi, Control & Systems Engineering Department, University of TechnologyFollow
• Taghreed M. Mohammad Ridha, Control & Systems Engineering Department, University of TechnologyFollow
• Mustafa Hussein Mishary, Control & Systems Engineering Department, University of TechnologyFollow

Document Type

Original Study

Keywords

Control Engineering

Abstract

This paper deals with the problem of designing a robust controller for the electro-hydraulic position servo system (EHPSS). The sliding mode control design methodology is utilized here to design a robust controller with respect to system parameters uncertainty. Because the relative degree of the mechanical sub-system with respect to hydraulic force FL is two, the switching function is constructed in two stages in order to reduce the relative degree to one. As a result of the proposed controller, the switching function reaches the zero level in a finite time, after that the state tracks the reference value asymptotically. The simulations result using MATLAB/ Simulink tools reveal the effectiveness and the robustness of the proposed control in forcing the position to track the reference value in spite of the uncertainty in system parameters. The uncertainty in hydraulic system model depends mainly on the variation on load mass (20 kg to 250 kg). Namely, the robustness is tested for two load masses 75 kg and 200 kg.

How to Cite This Article

Ahmed, Shibly; Mahdi, Shaymaa Mahmood; Ridha, Taghreed M. Mohammad; and Mishary, Mustafa Hussein (2015) "Sliding Mode Control for Electro-Hydraulic Servo System," Iraqi Journal of Computers, Communications, Control and Systems Engineering: Vol. 15: Iss. 3, Article 1.
Available at: https://ijccce.researchcommons.org/journal/vol15/iss3/1