Hydraulic Cylinder Velocity Tracking with Multirate Output Feedback Sliding Mode Control

Abstract

This paper presents a method for controlling the velocity of a hydraulic cylinder using a predictive multirate output feedback sliding mode controller. The nominal plant model is second order with time-delayed input and disturbance. Only velocity is measured, so the scheme uses fast-sampled output to estimate the states. A discrete predictor is used to treat the time delay, and the controller is designed for the future predicted states. Simulation and experiment results verify the proposed controller's performance despite the nonlinearity and uncertainty inherent in the hydraulic actuator system.