Adaptive Sliding Mode Control for Electro-hydraulic Position Servo System of the Elevation-balancing Machine of Artillery Platform

An adaptive sliding mode control approach is proposed for the precision control of the electro-hydraulic position servo system of the elevation-balancing machine of artillery platform. Adaptive algorithm is used to estimate uncertain parameters of the system and a simple discontinuous projection mapping is applied to ensure the boundedness of the uncertain estimated parameters, which can reduce the influence of parameter uncertainties. Switching functions is regulated by adaptive algorithm and the chattering problem is avoided. Simulation results show that adaptive sliding mode control algorithm tracks the desired trajectory rapidly with reasonable accuracy and steady-state errors.