Sliding mode control of a forestry-standard mobile hydraulic system

In this paper, a sliding mode control design for a forestry-standard mobile hydraulic system, including bounded model uncertainties and external disturbances, is proposed. The approach includes inverse of a dead-zone-like nonlinearity and a feedforward compensation. Besides, two strategies for chattering attenuation are implemented, improving the overall performance. Experimental results performed over an industrial setup confirm efficacy of the proposed methodology. Additionally, a comparison with a PID controller is presented.