Adaptive Damping Variable Sliding Mode Control for an Electrohydrostatic Actuator

An electrohydrostatic actuator (EHA) is a basic mechanical/hydraulic system with deficiencies including significant nonlinearity and parametric uncertainties. In line the challenges of designing high-precision control strategy, an adaptive damping variable sliding mode controller established, which extends our previous work on EHA control. The proposed integrates variable-damping control, adaptation, extended state observer. uncertainties are effectively captured compensated by employing law, while reduced, disturbances estimated fast stable response. We evaluated strategy variety position tracking tasks. experimental results demonstrate that significantly outperforms widely used methods in overshoot suppression, settling time, accuracy.