Reduced-order output fuzzy adaptive sliding mode controller for electro-hydraulic actuator system of heavy vehicle tracks

Considering the model inaccuracy, parameter perturbations and heavy-load disturbances inherent in electro-hydraulic actuator system of heavy vehicle tracks, this paper proposes an output fuzzy adaptive sliding mode control method based on reduced-order model of electro-hydraulic actuator system. The proposed control scheme combines fuzzy adaptive state observer with fuzzy adaptive sliding mode controller. Compared with full-order EHAS control methods, the design complexity and number of control parameters of the proposed controller are reduced. Moreover, this controller does not rely on system model parameters and only requires displacement state to achieve precise control. In addition, the validity of the reduced-order modeling and the stability of the proposed control scheme are theoretically proved. Comparative simulation studies show that reduced-order output fuzzy adaptive sliding mode controller has the superior control performance, while its practical effectiveness is confirmed by experiment.