Improved Position Tracking Performance of Electro Hydraulic Actuator Using PID and Sliding Mode Controller

Abstract

This paper focuses on the position control of low-velocity servo controlled electro hydraulic actuator system in order to increase the system productivity. To overcome the nonlinearities and uncertainties caused by friction and internal leakages, an efficient sliding mode control (SMC) is designed based on the selection of appropriate sliding surface and control law. The solution is a model-based position control and it is shown that the proposed design procedure is simple and efficient. The controller is designed with approximated first-order dynamics of the system. To express the performance of the proposed control scheme, the designed control strategy is compared with conventional proportional integral derivative (PID) control. The simulation and experimental comparisons between the PID and SMC demonstrate that SMC has smooth and stable response than PID in tracking performance and robustness.