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.0018a" src="https://static.hindawi.com/articles/tswj/volume-2013/590708/figures/590708.fig.0018a.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.0018b" src="https://static.hindawi.com/articles/tswj/volume-2013/590708/figures/590708.fig.0018b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b>Position errors</td></tr></table></td></tr><tr class="fig-image" id="c"><td><img alt="590708.fig.0018c" src="https://static.hindawi.com/articles/tswj/volume-2013/590708/figures/590708.fig.0018c.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(c) </b>Load force</td></tr></table></td></tr></table>

<table>Performances of optimal PID, antiwindup PID, and adaptive antiwindup PID sliding mode control systems for EHA with load disturbance.</table>

The Scientific World Journal

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Figure 18

Figure 18: Design and Experimental Evaluation of a Robust Position Controller for an Electrohydrostatic Actuator Using Adaptive Antiwindup Sliding Mode Scheme 

Figure 18 | Design and Experimental Evaluation of a Robust Position Controller for an Electrohydrostatic Actuator Using Adaptive Antiwindup Sliding Mode Scheme 