Design of an Adaptive Fuzzy Sliding Mode Controller for Hydraulic Position Servo System

In this paper, a novel fuzzy self-tuning mechanism-based adaptive sliding mode controller has been proposed to realize precise position tracking of a hydraulic position servo system with time-varying parameters. To ensure the robustness of the designed system, an adaptive sliding-mode control has been designed. It can also deal with the uncertainties in the dynamics of the hydraulic system. Meanwhile, a fuzzy self-tuning mechanism has been developed to regulate the proportional and switching gains of the reaching control term, which can minimize the chattering problem caused by discontinuous control action of the sliding mode controller. The stability of the controlled system is proven by the Lyapunov stability principle. Finally, a real-time control platform is established, and the effectiveness of the proposed controller for the specified tracking task is demonstrated by preliminary experiments.