TY  - EJOU
AU  - Wan, Zhenshuai 
AU  - Fu, Yu 
AU  - Liu, Chong 
AU  - Yue, Longwang 

TI  - Backstepping Sliding Mode Control Based on Extended State Observer for Hydraulic Servo System
T2  - Intelligent Automation \& Soft Computing

PY  - 2023
VL  - 36
IS  - 3
SN  - 2326-005X

AB  - 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.
KW  - Hydraulic servo system; nonlinear behaviors; modeling uncertainties; backstepping control; sliding mode control; extended state observer

DO  - 10.32604/iasc.2023.036601