# Extended State Observer-Based Chattering Free Terminal Sliding-Mode Control of Hydraulic Manipulators

## TL;DR

This paper introduces a new control method for hydraulic manipulators that improves tracking performance while avoiding system disturbances and chattering.

## Contribution

A novel chattering-free terminal sliding-mode control scheme using an extended state observer for hydraulic manipulators is proposed.

## Key findings

- The proposed ESO-CFTSM control scheme effectively handles uncertainties and unknowns in electro-hydraulic systems.
- Simulation results show superior trajectory tracking performance without chattering.
- The control law avoids singularities and ensures finite-time stability.

## Abstract

High-performance tracking control for the hydraulic manipulator should address the challenges of the uncertainties and unknowns associated with the electro-hydraulic servo system (EHSS). This paper presents an extended state observer-based chattering-free terminal sliding-mode (ESO-CFTSM) control scheme for hydraulic manipulators. A third-order integral chain model is developed to characterize the system dynamics, where uncertainties and unknowns are considered as disturbances and estimated by the ESO. Meanwhile, a full-order TSM manifold is designed to stabilize the closed-loop system in finite-time. For this proposed scheme, the feedforward compensation of disturbances is introduced in the equivalent control law. Furthermore, the composite reaching law and a low-pass filter are used to realize the chattering-free control. The singularity is avoided because there are no derivatives of terms with fractional powers in the control law. The stability of the overall system is proved by Lyapunov technique. The simulations using the physical model of a hydraulic manipulator with coupled dynamics show the effectiveness of the proposed scheme for trajectory tracking problems. Simulation results indicate that the proposed ESO-CFTSM can achieve superior performance without being affected by lumped disturbances.