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Abstract

A frequency-shaped sliding mode control (SMC) scheme that utilizes a classical filtering theory is applied to a positioning system of an electrohydraulic servo-motor with long transmission lines. It is shown that the chattering phenomenon can be fully suppressed by the scheme used regardless of the existence of a number of unmodelled dynamics. However, it is also shown that, in the case of the frequency-shaped SMC scheme used, the disturbance does not satisfy the matching condition regarding the augmented system consisting of the plant and filter and that the frequency-shaped SMC scheme does not have enough robustness to steady disturbances. A revision is made to the frequency-shaped SMC scheme used in order to enhance the robustness to steady disturbances. A high robustness of the revised frequency-shaped SMC scheme is demonstrated by experiment.

Keywords

electrohydraulic servo-motor robust control sliding mode control frequency shaping chattering disturbance observer

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Frequency-shaped sliding mode control of an electrohydraulic servo-motor

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