Adaptive Backstepping Sliding Mode Control for Electro-hydraulic Position Servo System of The Artillery Projectile Transfer Arm

Abstract

This paper proposes an adaptive backstepping sliding mode control method for electro-hydraulic position servo system of the artillery projectile transfer arm with nonlinear characteristics and parameter uncertainties. The adaptive law of uncertain parameters is given by adaptive algorithm and the discontinuous projection is used to ensure that the unknown parameters are bounded. The switching control function is used to ensure that the chattering problem is effectively suppressed. Simulation results show that the adaptive backstepping sliding mode control method tracks the desired trajectory more rapidly and accurately than the PID control method. The performance of the adaptive backstepping sliding mode control method is also verified without the projectile on the arm.