LAUSR

This paper presents a robust control regarding position control of an electro-hydraulic rotary actuator (EHRA) system under the presence of the lumped uncertainties such as the variant payload, the unknown friction, and the uncertain parameters. The proposed control is developed on a high order sliding mode control (HOSMC) and an extended high gain observer (EHGO). In detail, the HOSMC is derived to not only reduce the chattering effect but also guarantee the stability for the EHRA. In addition, the EHGO is used as a disturbance estimator to compensate the lumped uncertainties. Consequently, it helps to improve control performance. Furthermore, the stability and robustness of the whole system are theoretically proved by a Lyapunov approach. The proposed control is practically implemented through both the co-simulation between AMESIM and MATLAB, and the experiments. The results are compared to other controllers to exhibit the effectiveness of the proposed control with the lumped uncertainties.