Open Access iconOpen Access

ARTICLE

Precision Motion Control of Hydraulic Actuator Using Adaptive Back-Stepping Sliding Mode Controller

Zhenshuai Wan1,2,*, Longwang Yue2, Yanfeng Wang2, Pu Zhao2

1 Henan Key Laboratory of Superhard Abrasives and Grinding Equipment, Henan University of Technology, Zhengzhou, 450001, China
2 School of Mechanical and Electrical Engineering, Henan University of Technology, Zhengzhou, 450001, China

* Corresponding Author: Zhenshuai Wan. Email: email

Computer Modeling in Engineering & Sciences 2024, 141(2), 1047-1065. https://doi.org/10.32604/cmes.2024.053773

Abstract

Hydraulic actuators are highly nonlinear when they are subjected to different types of model uncertainties and dynamic disturbances. These unfavorable factors adversely affect the control performance of the hydraulic actuator. Although various control methods have been employed to improve the tracking precision of the dynamic system, optimizing and adjusting control gain to mitigate the hydraulic actuator model uncertainties remains elusive. This study presents an adaptive back-stepping sliding mode controller (ABSMC) to enhance the trajectory tracking precision, where the virtual control law is constructed to replace the position error. The adaptive control theory is introduced in back-stepping controller design to compensate for the model uncertainties and time-varying disturbances. Based on Lyapunov theory, the finite-time convergence of the position tracking errors is proved. Furthermore, the effectiveness of the developed control scheme is conducted via extensive comparative experiments.

Keywords


Cite This Article

APA Style
Wan, Z., Yue, L., Wang, Y., Zhao, P. (2024). Precision motion control of hydraulic actuator using adaptive back-stepping sliding mode controller. Computer Modeling in Engineering & Sciences, 141(2), 1047-1065. https://doi.org/10.32604/cmes.2024.053773
Vancouver Style
Wan Z, Yue L, Wang Y, Zhao P. Precision motion control of hydraulic actuator using adaptive back-stepping sliding mode controller. Comput Model Eng Sci. 2024;141(2):1047-1065 https://doi.org/10.32604/cmes.2024.053773
IEEE Style
Z. Wan, L. Yue, Y. Wang, and P. Zhao "Precision Motion Control of Hydraulic Actuator Using Adaptive Back-Stepping Sliding Mode Controller," Comput. Model. Eng. Sci., vol. 141, no. 2, pp. 1047-1065. 2024. https://doi.org/10.32604/cmes.2024.053773



cc Copyright © 2024 The Author(s). Published by Tech Science Press.
This work is licensed under a Creative Commons Attribution 4.0 International License , which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
  • 308

    View

  • 117

    Download

  • 0

    Like

Share Link