earticle

영어

In order to improve the system performance affected by the model uncertainties and loading moments, a robust tracking controller is proposed for electro-hydraulic servo system. Considering the conventional disturbance observer (DOB) lacks the enough ability in estimating the whole disturbances in electro-hydraulic servo system, one global sliding mode controller (GSMC) is proposed based on the inner-loop DOB. The GSMC not only suppresses the remainder disturbances which cannot be observed by DOB, but also realizes the position tracking of electro-hydraulic servo system. Simulation results present that, compared with other traditional control schemes, the proposed robust control scheme can ensure electro-hydraulic servo system possess higher tracking precision. Moreover, there is no obvious high-frequency chattering at control input, therefore it also possesses higher application value.