Abstract
This study presents a discrete-time sliding mode control (DSMC) with an input filter for a low damping electro-hydraulic actuator (EHA) suffering from large control volume variation. Non-switching type reaching law and one-step delayed estimation of disturbance are combined in the DSMC. Different from existing DSMC strategies which view parametric uncertainty as a lumped bounded disturbance, the influence of parametric uncertainty on the system stability is analysed, which results to a two terms iterative expression of state. The stability criterion for this iteration is put forward. To stabilise the EHA that has a large control volume variation, a first-order input filter for the control input is introduced. The disturbance resulting from the input filter is expressed and the stability criterion with the input filter is derived. Both simulation and experimental results show the effectiveness of the proposed approach on the position tracking of the EHA with large volume variation.
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