Backstepping Sliding Mode Control Based on Extended State Observer for Hydraulic Servo System

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 modeling uncertainties are main obstacles for hydraulic achieve tracking performance. To deal with these difficulties, this paper presents a backstepping sliding mode controller improve dynamic performance anti-interference ability. For purpose, model is firstly established, where lumped as one term. Then, extended state observer introduced estimate disturbance. The stability proved by using Lyapunov theorem. Finally, comparative simulation experimental conducted on platform verify efficiency proposed control scheme.