Electro-hydraulic actuator trajectory tracking

This paper combines block control, sliding mode control and integral control techniques to design a controller, which is able to force an electrohydraulic actuator driven by a servovalve to track a given chaotic reference trajectory. This approach enables to compensate the inherent nonlinearities of the actuator and to reject external constant disturbances. A friction model incorporating Karnopp´s stick-slip model and the Stribeck effect is used for the plant model. Simulations illustrate the approach applicability.