Disturbance Observer-based Integral Sliding Mode Control of Barrel Pitching Electrohydraulic Servo System with Model Uncertainties

This research focus on the position tracking control of the barrel pitching electro-hydraulic servo system with model uncertainties. Based on the established dynamic model of the sytem, a disturbance observer-based integral sliding mode control approach is proposed. The mismatched disturbance observer and the matched disturbance observer are respectively designed to estimate mismatched and matched disturbances. Then, the obtained estimates of the mismatched and matched disturbances are added into the integral sliding mode controller to further improve the control performance of the electro-hydraulic servo system. The stability and convergence of the proposed approach are proved in the sense of Lyapunov theory. Comparative experiments further verified the practical effectiveness of the proposed controller.