Sliding mode control with perturbation observer (SMCSPO) is well known as a robust controller. It has not only the good performance in non-linear control but also a certain accuracy in perturbation estimation. In this paper, SMCSPO is used to control ...
Sliding mode control with perturbation observer (SMCSPO) is well known as a robust controller. It has not only the good performance in non-linear control but also a certain accuracy in perturbation estimation. In this paper, SMCSPO is used to control a hydraulic cylinder and observe the perturbation which major is the reaction force from environment. The reaction force estimation is compared with the real force measured by a force/torque sensor for observer evaluation. The evaluation shows the estimated reaction force can be used as a force feedback within some errors.