Since 1963
ARTICLE
Research on adaptive fuzzy sliding mode control with switching strategy for trajectory tracking of digital hydraulic cylinder
1
School of Computer, Heze University, Shandong, China
2
Heze University Library, Heze University, Shandong, China
Submission date: 2025-07-13
Final revision date: 2025-09-15
Acceptance date: 2025-11-15
Online publication date: 2025-12-17
Publication date: 2026-03-12
Corresponding author
Journal of Theoretical and Applied Mechanics 2026;64(1):29-44
KEYWORDS
tracking differentiatorfuzzy controlsliding mode variable structure controladaptive controldigital hydraulic cylinder
TOPICS
ABSTRACT
Aiming at the position control system of digital hydraulic cylinders with multiple nonlinear factors and coupled forces, this study proposes a switched fuzzy sliding mode adaptive control strategy (TDAFSMC). This study proposes a TDAFSMC strategy that employs fuzzy logic to
approximate switching terms for chattering suppression, while utilizing a tracking differentiator to enhance dynamic response characteristics. Lyapunov theory ensures stability through adaptive weight adjustment. Simulations show 41.7% faster response and 2.0% lower error versus PID. With response speed error maintained below 8.0% and tracking error under 1.0 %, they confirm the feasibility, effectiveness, and superior performance of the proposed control strategy.
REFERENCES (20)
1.
Ðào, T.L., & Thanh, L. (2023). Adaptive PID sliding mode controller application to position control of hydraulic system (in Vietnamese). Journal of Transportation Science and Technology, 12 (4), 26–33. https://www.doi.org/10.55228/j....
2.
Dang, X.J., Zhao, X.A., Dang, C., Jiang, H., Wu, X., & Zha, L. (2021). Incomplete differentiation-based improved adaptive backstepping integral sliding mode control for position control of hydraulic system. ISA Transactions, 109, 199–217. https://doi.org/10.1016/j.isat....
3.
Gao, G., Zeng, Y., Liu, C., Wang, L., & Liu, R. (2023). Analysis of damping multi-mode switching control of semi-active suspension based on digital controlled hydraulic cylinders group. Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, 239 (1), 98–112. https://doi.org/10.1177/095440....
4.
Ghani, M.F., Ghazali, R., Jaafar, H.I., & Soon, C.C. (2022). Real-time trajectory tracking control of an electro-hydraulic system using a fuzzy logic sliding mode controller. 2022 IEEE International Conference on Artificial Intelligence in Engineering and Technology (IICAIET), 1–6, https://doi.org/10.1109/iicaie....
5.
Guo, Y.-Q., Zha, X.-M., Shen, Y.-Y., Wang, Y.-N., & Chen, G. (2022). Research on PID position control of a hydraulic servo system based on Kalman genetic optimization. Actuators, 11 (6), Article 162. https://doi.org/10.3390/act110....
6.
He, J., Su, S., Wang, H., Chen, F., & Yin, B. (2023). Online PID tuning strategy for hydraulic servo control systems via SAC-based deep reinforcement learning. Machines, 11 (6), Article 593. https://doi.org/10.3390/machin....
7.
Ji, X.H., Wang, C.W., Zhang, Z.Y., Chen, S., & Guo, X.P. (2021). Nonlinear adaptive position control of hydraulic servo system based on sliding mode back-stepping design method. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, 235 (4), 474–485. https://doi.org/10.1177/095965....
8.
Jiang, S.L., Wang, H., & Zhao, G.C. (2022). Research on neural network model reference adaptive disturbance rejection control of digital hydraulic cylinder. Advances in Mechanical Engineering, 14 (12). https://doi.org/10.1177/168781....
9.
Li, S., & Cao, X.H. (2021). Synchronous control characteristics analysis of shield propulsion hydraulic system based on tracking differentiator and self-adaptive nonlinear PID. International Journal of Pattern Recognition and Artificial Intelligence, 35 (14), Article 2159053. https://doi.org/10.1142/s02180....
10.
Li, Z.B., Li, L., Zhang, J.Q., Huang, H.Y., & Sun, C.S. (2023). Nonsingular terminal sliding mode control of voice coil actuator fast steering mirror based on tracking differentiator. 2023 IEEE 18th Conference on Industrial Electronics and Applications (ICIEA), 1099–1105. https://doi.org/10.1109/iciea5....
11.
Liu, Y., Jiang, D., Yun, J., Sun, Y., Li, C., Jiang, G., Kong, J., Tao, B., & Fang, Z. (2022a). Self-tuning control of manipulator positioning based on fuzzy PID and PSO algorithm. Frontiers in Bioengineering and Biotechnology, 9, Article 817723. https://doi.org/10.3389/fbioe.....
12.
Liu, Y.J., Peng, X.W., Chen, X., & Guo, Y.J. (2022b). Electro-hydraulic proportional position control based on variable domain fuzzy PID. 2022 41st Chinese Control Conference (CCC), 2773–2778. https://doi.org/10.23919/ccc55....
13.
Qi, P.G., Chi, S., Zheng, Y.S., et al. (2024). Research on stiffness characteristics of 6-DOF parallel robot driven by digital hydraulic cylinder (in Chinese). Journal of Ordnance Equipment Engineering, 45 (6), 215–223. https://doi.org/10.11809/bqzbg....
14.
Sun, C., Dong, X., Wang, M., & Li, J. (2022). Sliding mode control of electro-hydraulic position servo system based on adaptive reaching law. Applied Sciences, 12 (14), Article 6897. https://doi.org/10.3390/app121....
15.
Wang, L., Guan, S., Wu, Z., Wang, K., Li, Y., & Li, X. (2019). Design and simulation of intelligent lifting system based on digital hydraulic cylinder. 2019 IEEE 4th International Conference on Advanced Robotics and Mechatronics (ICARM), 24–29. https://doi.org/10.1109/icarm.....
16.
Yang, M.X., Zhang, Q., Lu, X.L., Xi, R., & Wang, X.S. (2019). Adaptive sliding mode control of a nonlinear electro-hydraulic servo system for position tracking. Mechanika, 25 (4), 283–290. https://doi.org/10.5755/j01.me....
17.
Yu, H.,Wang, H., & Guo, C.G. (2024). Analysis of bandwidth expansion and interference suppression of digital hydraulic cylinder system. International Journal of Control, Automation, and Systems, 22 (5), 1739–1750. https://doi.org/10.1007/s12555....
18.
Zhang, B., Niu, P., Guo, X., & He, J. (2024). Fuzzy PID control of permanent magnet synchronous motor electric steering engine by improved beetle antennae search algorithm. Scientific Reports, 14, Article 2898. https://doi.org/10.1038/s41598....
19.
Zhang, J.Z., & Fu, Y.J. (2025). Research on fluid motion characteristics of digital hydraulic cylinder control valve based on amesim and fluent. Journal of Physics: Conference Series, 3043 (1), Article 012046. https://doi.org/10.1088/1742-6....
20.
Zhang, W., Xu, L., Liang, X., Zhang, Y., Yan, W., & Zhou, J. (2022). Position control of traction upper limb rehabilitation robot based on fuzzy sliding mode method. 2022 12th International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (CYBER), 654–659. https://doi.org/10.1109/cyber5....
| eISSN: | 2543-6309 |
| ISSN: | 1429-2955 |
We process personal data collected when visiting the website. The function of obtaining information about users and their behavior is carried out by voluntarily entered information in forms and saving cookies in end devices. Data, including cookies, are used to provide services, improve the user experience and to analyze the traffic in accordance with the Privacy policy. Data are also collected and processed by Google Analytics tool (more).
You can change cookies settings in your browser. Restricted use of cookies in the browser configuration may affect some functionalities of the website.
You can change cookies settings in your browser. Restricted use of cookies in the browser configuration may affect some functionalities of the website.
