Considering the model inaccuracy, parameter perturbations and heavy-load disturbances inherent in electro-hydraulic actuator system of heavy vehicle tracks, this paper proposes an output fuzzy adaptive sliding mode control method based on reduced-order model of electro-hydraulic actuator system. The proposed control scheme combines fuzzy adaptive state observer with fuzzy adaptive sliding mode controller. Compared with full-order EHAS control methods, the design complexity and number of control parameters of the proposed controller are reduced. Moreover, this controller does not rely on system model parameters and only requires displacement state to achieve precise control. In addition, the validity of the reduced-order modeling and the stability of the proposed control scheme are theoretically proved. Comparative simulation studies show that reduced-order output fuzzy adaptive sliding mode controller has the superior control performance, while its practical effectiveness is confirmed by experiment.
JeonJBaeJKwonO, et al. Automating motor grader leveling operations: kinematic analysis for blade pose control. Autom Constr2025; 175: 106199.
2.
ChenZGuanWGuoJ, et al. Electric shovel trajectory tracking with inversion sliding mode based on Lyapunov functions. Autom Constr2024; 162: 105364.
3.
ZhangSZhangG.Closed-loop designed open-loop control of quantum systems: an error analysis. J Franklin Inst2024; 361(16): 107170.
4.
LiSZhangZDingK, et al. High-dynamic steering control of the pump-controlled electro-hydraulic steering system for heavy vehicles with active disturbance suppression. J Franklin Inst2024; 361(15): 107107.
5.
PeiTGYanBJDongH, et al. Research on the influence of heavy-duty tracked vehicles parameters on steering driving process. Int J Heavy Veh Syst2024; 31(2): 267–288.
6.
LiaoLSangYChenT, et al. Research on position tracking control of electro-hydraulic actuator system combining feedforward inverse model controller and exponential functional link network adaptive controller. Proc Inst Mech Eng C J Mech Eng Sci2025; 239(3): 643–658.
7.
PhanVDTruongHVAAhnKK.Actuator failure compensation-based command filtered control of electro-hydraulic system with position constraint. ISA Trans2023; 134: 561–572.
8.
WangFWuJLinZ, et al. A power-sharing electro-hydraulic actuator system to downsize electric motors for electric mobile machines. Energy2023; 284: 129343.
9.
ZaareSSoltanpourMR.Optimal robust adaptive fuzzy backstepping control of electro-hydraulic servo position system. Trans Inst Meas Contr2022; 44(6): 1247–1262.
10.
JingCZhangHYanB, et al. State and disturbance observer based robust disturbance rejection control for friction electro-hydraulic load simulator. Nonlinear Dyn2024; 112(19): 17241–17255.
11.
TruongHVAChungWK. Sliding-mode-based output feedback neural network control for electro-hydraulic actuator subject to unknown dynamics and uncertainties. IEEE Trans Syst Man Cybern Syst2024; 54(12): 7884–7896.
12.
ZhangSZhaoWWangC, et al. Adaptive event-triggered robust front wheel steering angle control strategy for a novel electro-hydraulic composite steer-by-wire. Proc Inst Mech Eng D J Automobile Eng2025; 239: 7062–7075.
13.
KumarVRanaKPS. A novel fuzzy PID controller for nonlinear active suspension system with an electro-hydraulic actuator. J Braz Soc Mech Sci Eng2023; 45(4): 189.
14.
ZhangHZhaoJYWangYF.Electro-hydraulic position servo system based on sliding mode active disturbance rejection compound control. Proc Inst Mech Eng C J Mech Eng Sci2022; 236: 2089–2098.
15.
FengHJiangJChangX, et al. Adaptive sliding mode controller based on fuzzy rules for a typical excavator electro-hydraulic position control system. Eng Appl Artif Intell2023; 126: 107008.
16.
FengHMaWYinC, et al. Trajectory control of electro-hydraulic position servo system using improved PSO-PID controller. Autom Constr2021; 127: 103722.
17.
WratGBholaMRanjanP, et al. Energy saving and fuzzy-PID position control of electro-hydraulic system by leakage compensation through proportional flow control valve. ISA Trans2020; 101: 269–280.
18.
NiuSWangJZhaoJ, et al. Neural network-based finite-time command-filtered adaptive backstepping control of electro-hydraulic servo system with a three-stage valve. ISA Trans2024; 144: 419–435.
19.
WanZYueLFuY.Neural network based adaptive backstepping control for electro-hydraulic servo system position tracking. Int J Aerosp Eng2022; 2022: 1–16.
20.
ShenWZhaoHZhangG, et al. An event-triggered based robust control for electro-hydraulic servo machines with active disturbances rejection. J Franklin Inst2022; 359: 2857–2885.
21.
YangGYaoJ.High-precision motion servo control of double-rod electro-hydraulic actuators with exact tracking performance. ISA Trans2020; 103: 266–279.
22.
BounemeurAChemachemaM.Robust fuzzy adaptive fault-tolerant control for a class of second-order nonlinear systems. Int J Adapt Control Signal Process2024; 39(1):15–30.
23.
RazmjooeiHPalliGAbdiE, et al. Finite-time continuous extended state observers: design and experimental validation on electro-hydraulic systems. Mechatronics2022; 85: 102812.
24.
NguyenMHDaoHVAhnKK.Active disturbance rejection control for position tracking of electro-hydraulic servo systems under modeling uncertainty and external load. Actuators2021; 10(2): 20.
25.
RazmjooeiHPalliGAbdiE.Continuous finite-time extended state observer design for electro-hydraulic systems. J Franklin Inst2022; 359(10): 5036–5055.
26.
LiJDuXLiW, et al. Research on sliding mode backstepping control of electro-hydraulic servo active suspension flexible system based on state observer. J Vib Control. Epub ahead of print 2025. DOI: 10.1177/10775463251347839
27.
ChenH.A backstepping sliding mode control algorithm of electro-hydraulic position servo system of valve-controlled symmetric cylinder based on extended state observer. Mech Ind2024; 25: 6.
28.
LiuLShenGWangW, et al. Neural adaptive dynamic surface control for position tracking of electrohydraulic servo systems based on extended state observer. Proc Inst Mech Eng I J Syst Control Eng2024; 238: 1535–1555.
29.
HuHZhangQFangJ, et al. Practical adaptive robust tracking control of the dual-valve parallel electro-hydraulic servo system with reduced-order model. Trans Inst Meas Contr2024; 46(3): 501–512.
30.
ZhuJZhangJZhuJ, et al. A composite controller for manipulator with flexible joint and link under uncertainties and disturbances. J Vib Control2022; 28(9-10): 1148–1164.
31.
BounemeurAChemachemaM.General fuzzy adaptive fault-tolerant control based on Nussbaum-type function with additive and multiplicative sensor and state-dependent actuator faults. Fuzzy Sets Syst2023; 468: 108616.
32.
BounemeurAChemachemaMEssounbouliN.Indirect adaptive fuzzy fault-tolerant tracking control for MIMO nonlinear systems with actuator and sensor failures. ISA Trans2018; 79: 45–61.
33.
LuKFengGDingB.Robust H-infinity tracking control for a valve-controlled hydraulic motor system with uncertain parameters in the complex load environment. Sensors2023; 23(22): 9092.
34.
HuKZhangW.Precise control algorithm of rotational speed of the valve-controlled hydraulic motor under load fluctuating conditions. Sci Prog2024; 107: 00368504241296299.
35.
ZhangDYLiuSYChenY, et al. Neural direct adaptive active disturbance rejection controller for electro-hydraulic servo system. Int J Control Autom Syst2022; 20: 2402–2412.
36.
IzadbakhshAGholizade-NarmHDeylamiA.Observer-based adaptive controller design for chaos synchronization using Bernstein-type operators. Int J Robust Nonlinear Control2022; 32(7): 4318–4335.
37.
BuXLvMLeiH.Single fuzzy approximator-based stabilization control with multiuncertainties: a discrete-time prescribed performance approach. IEEE Trans Fuzzy Syst2024; 32(6): 3838–3849.
