关键词: 电液伺服系统；滑模变结构控制；抖振消除；边界层调节

Abstract:

new robust tracking controller for electro-hydraulic servo system based on adaptive sliding mode control was presented. The Sigmoid function with parameters’ tuning was adopted instead of sign function to reduce the high frequency chattering of inputs and to obtain less tracking errors. Without the boundaries of the uncertainties, the controller and the self-tuning laws for controller parameters were designed by using Lyapunov stability argument. The state trajectories can reach the sliding mode and the tracking error can convergence to zero within finite time while control input chattering does not exits any more. Simulation and experimental results was presented to verify the feasibility effectivenesss.

Key words: electro-hydraulic servo system, sliding mode control(SMC), chatter elimination, boundary layer adaptation