Force tracking neural block control for an electro‐hydraulic actuator via second‐order sliding mode

This paper presents a novel scheme for identification and control of an electro-hydraulic system using recurrent neural networks. The proposed neural network has the nonlinear block control form structure. A sliding-mode control technique is applied then to design a discontinuous controller, which is able to track a force reference trajectory. Due to the presence of an unmodelled dynamics, the standard sliding-mode controller produces oscillations (or ‘chattering’) in the closed-loop system. The second-order sliding mode is used to eliminate the undesired chattering effect. Simulations are presented to illustrate the results. Copyright © 2007 John Wiley & Sons, Ltd.

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