Robust tracking control for hydraulic actuator using backstepping sliding mode control

Abstract

This paper deals with the design and experimental evaluation of an explicit tracking control system for a hydraulic actuator. The tracking control of hydraulic system has been widely applied to many application fields. However, since the hydraulic system has inherently hard nonlinear properties in dynamics, it is difficult to precisely control the position of the hydraulic system. Therefore a robust tracking control scheme was proposed to guarantee the tracking performance in this paper. To design the robust tracking control system, backstepping with sliding mode controller was applied. In order to evaluate the performance of the proposed controller, the experimental results were conducted.

Keywords

• hydraulic system
• backstepping
• sliding mode control
• lyapunov stability
• valve