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.0014a" src="https://static.hindawi.com/articles/tswj/volume-2013/590708/figures/590708.fig.0014a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b>  Step responses</td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="590708.fig.0014b" src="https://static.hindawi.com/articles/tswj/volume-2013/590708/figures/590708.fig.0014b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b>Position errors</td></tr></table></td></tr></table>

<table>Performances of optimal adaptive antiwindup PID sliding mode position control system for EHA without load disturbance (only mass load is applied).</table>

The Scientific World Journal

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Figure 14

Figure 14: Design and Experimental Evaluation of a Robust Position Controller for an Electrohydrostatic Actuator Using Adaptive Antiwindup Sliding Mode Scheme 

Figure 14 | Design and Experimental Evaluation of a Robust Position Controller for an Electrohydrostatic Actuator Using Adaptive Antiwindup Sliding Mode Scheme 