Sliding Mode Control for a Model of an Electrohydraulic Actuator System with Discontinuous Nonlinear Friction

This paper considers the application of Sliding Mode Control (SMC) to a high precision hydrostatic actuation system with nonlinear discontinuous friction. An important consideration in such systems is the oscillations that occur in the system response due to friction for small input signals at cross-over regions where the velocity changes sign. A new model for a high precision hydrostatic actuation system is developed assuming discontinuous and …