Due to the advantages of high energy efficiency and environmental friendliness, the electro-hydraulic actuator (EHA) plays a vital role in fluid power control. One variant of EHA, double pump direct driven hydraulics (DDH), is proposed, which consists of double fixed-displacement pumps, a servo motor, an asymmetric cylinder and auxiliary components. This paper proposes an adaptive backstepping sliding mode control (ABSMC) strategy for DDH to eliminate the adverse effect produced by parametric uncertainty, nonlinear characteristics and the uncertain external disturbance. Based on theoretical analysis, the nonlinear system model is built and transformed. Furthermore, by defining the sliding manifold and selecting a proper Lyapunov function, the nesting problems (of the designed variable and adaptive law) caused by uncertain coefficients are solved. Moreover, the adaptive backstepping control and the sliding mode control are combined to boost system robustness. At the same time, the controller parameter adaptive law is derived from Lyapunov analysis to guarantee the stability of the system. Simulations of the DDH are performed with the proposed control strategy and proportional–integral–differential (PID), respectively. The results show that the proposed control strategy can achieve better position tracking and stronger robustness under parameter changing compared with PID.
Robust tracking control for hydraulic actuator using backstepping sliding mode control