Sliding mode control based on backstepping method for electro-hydraulic single-rod actuator

This paper presents a sliding mode control method to track desired position for an electro-hydraulic single-rod actuator of a projectile transfer arm. Sliding mode control is used to compensate the nonlinearity and parameters uncertainty of electro-hydraulic system and its control output is the load pressure. A backstepping method is applied to achieve control law of practical electro-hydraulic system and its stability of the closed loop system is proved using the Lyapunov theory. The simulation results show that sliding mode control algorithm puts up better performances for reaching the desired position with required tracking accuracy and rapidity.