Abstract
Many studies on the control of an oil hydraulic servo system have been carried out. The adaptive or robust control schemes are useful improving the performance of the controlled system. In this study, we have proposed such a robust servo system based on a combination of a disturbance observer and sliding mode control. Also, to eliminate chattering phenomena, we used a sliding mode control with an accelerative reaching rule.
From the viewpoint of climinating the chattering phenomena and a reduction in the disturbance, a sliding mode contol with an accelerative reaching rule working in combination with a disturbance observer was employed to control the positioning of an oil hydraulic cylinder. The experiments were carried out under several conditions, and the results obtained were compared with those of the conventional PID controller. As a result, the proposed method has shown good control performance in that the robust and stable positioning of the oil hydraulic cylinder can be achieved accurately under undesirable chattering.
