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Optimal sliding mode control of an electrohydraulic servomechanism
(Wydawnictwo Politechniki Łódzkiej, 2011) Adamczyk, Paweł
In this paper sliding mode control with acceleration constraint is proposed to achieve robustness and optimal performance of electrohydraulic servomechanism. The main feature of the proposed control is application of a time-varying switching plane. Initially, the plane passes through the system representative point in the error state space and then it moves with a constant velocity to the origin of the space. Having reached the origin the plane stops moving and remains fixed. The plane parameters (determining angles of inclination and the velocity of its motion) are selected to ensure the minimum integral absolute error without violating acceleration constraints. The simulation results show, that the proposed control ensures accuracy, and robust performance.