A Non-singular Terminal Synergetic Control Design for Servo-hydraulic Systems

This paper proposes a new synergetic control design for a third-order servo-hydraulic system. The control approach is formulated based on nonsingular terminal macro variable surface and aims at mitigating the singularity problem associated with conventional terminal synergetic control, while at the same time ensuring chattering-free dynamic response. System stability is proven using the Lyapunov stability criteria. Implementation of the proposed approach to a servo-hydraulic actuator clearly highlighted its robustness and chattering-free dynamics.