Design and Experimental Evaluation of a Robust Position Controller for an Electrohydrostatic Actuator Using Adaptive Antiwindup Sliding Mode Scheme

<table class="table-group" width="800px"><tr class="fig-image" id="a"><td><img alt="590708.fig.0012a" src="https://static.hindawi.com/articles/tswj/volume-2013/590708/figures/590708.fig.0012a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b>Saturation of impressed current</td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="590708.fig.0012b" src="https://static.hindawi.com/articles/tswj/volume-2013/590708/figures/590708.fig.0012b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b>Saturation of angular velocity</td></tr></table></td></tr></table>

<table>Saturation of BLDC motor for optimal PID position control system for EHA without load disturbance (only mass load is applied).</table>

The Scientific World Journal

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Figure 12

Figure 12: Design and Experimental Evaluation of a Robust Position Controller for an Electrohydrostatic Actuator Using Adaptive Antiwindup Sliding Mode Scheme 

Figure 12 | Design and Experimental Evaluation of a Robust Position Controller for an Electrohydrostatic Actuator Using Adaptive Antiwindup Sliding Mode Scheme 