Generalized Super-Twisting Backstepping Sliding Mode Control for Electro-Hydraulic Servo Systems Considering the Coexistence of Matched and Mismatched Uncertainties

Aiming at the problem of coexistence matching and mismatching uncertainties in electro-hydraulic servo systems, disturbance observers a backstepping sliding mode controller based on generalized super-twisting algorithm (GSTA) are proposed this paper. First, order to compensate for uncertainty controller, two (GSTDOs) constructed effectively reduce discontinuous gain controller. Then, GSTA is introduced optimize obtain better control effect. Finally, strategy compared simulated system. The experimental results verify that has tracking performance. effect asymptotic presence parameter disturbances achieved, while transient performance final accuracy guaranteed time-varying uncertain nonlinearities.