Design of a Cascade Hybrid Fuzzy Terminal Sliding Mode Controller for an Electro-hydraulic Position Servo System

In this paper, a cascade hybrid fuzzy terminal sliding mode control is proposed to improve the tracking performance of a nonlinear electro-hydraulic position servo system, which can be found in many manufacturing devices. The key feature of the proposed control scheme is that a fuzzy sliding mode control for the mechanical subsystem is obtained good tracking performance. Then, a terminal sliding mode control scheme is derived for the driving electrical subsystem to diminish auxiliary error infinite time. The validity of the proposed control scheme is verified through practical testing on an experimental electro-hydraulic positioning device. In the cases of step and sinusoidal command inputs, the experimental results that the proposed control scheme is capable of improving the tracking precision