Cascade sliding mode control with lumped disturbance compensation for acceleration tracking of...

Controlling jerk in industrial systems under disturbances and uncertainties presents significant technical challenges. This article introduces a novel hierarchical sliding mode control system with adaptive disturbance compensation for rapid acceleration tracking in fluid power systems. The study focuses on acceleration tracking during jerk motion in a hybrid electro-hydraulic-pneumatic actuator. To achieve high precision and robustness, an inverse sequence of cascaded sliding modes is constructed to generate reference signals for the intermediate subsystems. A neural adaptive estimator is proposed to approximate both gradual and rapidly changing lumped disturbances. By employing Lyapunov theory, the asymptotic stability of the sliding functions and the convergence of the adaptive estimation are ensured. The effectiveness of the proposed approach is validated through numerical simulations and experiments on a real-world hybrid fluid power system.