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Backstepping Sliding Mode Control Based on Extended State Observer for Hydraulic Servo System

Zhenshuai Wan*, Yu Fu, Chong Liu, Longwang Yue

School of Mechanical and Electrical Engineering, Henan University of Technology, Zhengzhou, China

* Corresponding Author: Zhenshuai Wan. Email: email

Intelligent Automation & Soft Computing 2023, 36(3), 3565-3581.


Hydraulic servo system plays an important role in industrial fields due to the advantages of high response, small size-to-power ratio and large driving force. However, inherent nonlinear behaviors and modeling uncertainties are the main obstacles for hydraulic servo system to achieve high tracking performance. To deal with these difficulties, this paper presents a backstepping sliding mode controller to improve the dynamic tracking performance and anti-interference ability. For this purpose, the nonlinear dynamic model is firstly established, where the nonlinear behaviors and modeling uncertainties are lumped as one term. Then, the extended state observer is introduced to estimate the lumped disturbance. The system stability is proved by using the Lyapunov stability theorem. Finally, comparative simulation and experimental are conducted on a hydraulic servo system platform to verify the efficiency of the proposed control scheme.


Cite This Article

Z. Wan, Y. Fu, C. Liu and L. Yue, "Backstepping sliding mode control based on extended state observer for hydraulic servo system," Intelligent Automation & Soft Computing, vol. 36, no.3, pp. 3565–3581, 2023.

cc 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.
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