Adaptive sliding mode control of hydraulic systems with the event trigger and finite-time disturbance observer

Abstract

Abstract This paper studies a class of hydraulic servo system control problems with digital communication constraints and model uncertainty. A cooperative design method of adaptive robust sliding mode controller with event trigger strategy and the finite time disturbance observer is proposed. The introduced event trigger strategy can remove a large amount of redundant data and release the communication bandwidth. Besides, the non-matching interference can be accurately estimated by the finite time disturbance observer, and the uncertainty of the matching parameter can be online through the proposed parameter adaptation update. Theoretical analysis shows that the control algorithm not only maintains the asymptotic stability of the hemisphere but also enables the reachability of a given sliding surface. Finally, the simulation results also verify the feasibility and validity of the theoretical results.