Multiple sliding mode neural network control of electro-hydraulic position servo system

A multiple sliding mode neural network control scheme,which combines the technology of neural network and sliding mode surface with boundary layer,is proposed for an electro-hydraulic position servo system with strong nonlinear terms,unknown control gain and mismatched uncertainties.By employing the universal approximation property of neural network and the advantage of sliding mode control,and using constructive method,the controller is designed.The parameter drift and controller singular problem are avoided perfectly by applying the smooth projection method and the integral type Lyapunov function.It is proved that the tracking error converges to the arbitrarily prescribed boundary layer.Simulation results demonstrate the effectiveness of the control strategy.