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Mathematical Problems in Engineering
Volume 2018, Article ID 7159891, 22 pages
Research Article

A Novel Sliding Mode Control Framework for Electrohydrostatic Position Actuation System

1School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China
2Engineering Training Center, Beihang University, Beijing 100191, China

Correspondence should be addressed to Haitao Qi; moc.361@aaubthq

Received 22 May 2017; Accepted 18 December 2017; Published 17 January 2018

Academic Editor: Hung-Yuan Chung

Copyright © 2018 Rongrong Yang et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


A novel sliding mode control (SMC) design framework is devoted to providing a favorable SMC design solution for the position tracking control of electrohydrostatic actuation system (EHSAS). This framework is composed of three submodules as follows: a reduced-order model of EHSAS, a disturbance sliding mode observer (DSMO), and a new adaptive reaching law (NARL). First, a reduced-order model is obtained by analyzing the flow rate continuation equation of EHSAS to avoid the use of a state observer. Second, DSMO is proposed to estimate and compensate mismatched disturbances existing in the reduced-order model. In addition, a NARL is developed to tackle the inherent chattering problem of SMC. Extensive simulations are conducted compared with the wide adoption of three-loop PID method on the cosimulation platform of EHSAS, which is built by combining AMESim with MATLAB/Simulink, to verify the feasibility and superiority of the proposed scheme. Results demonstrate that the chattering can be effectively attenuated, and the mismatched disturbance can be satisfyingly compensated. Moreover, the transient performance, steady-state accuracy, and robustness of position control are all improved.