Robust backstepping sliding mode control with time-driven disturbance observer and command filtering for electro-hydraulic energy recovery systems

This paper presents a novel Time-Driven Disturbance Observer and Command Filter-Based Backstepping Sliding Mode Control (TDCF-BSMC) scheme for Electro-Hydraulic Energy Recovery Systems (EHERS), aiming to overcome challenges associated with high nonlinearity, parameter uncertainty, and external disturbances. A comprehensive nonlinear model of the EHERS is established, incorporating the dynamics of the hydraulic pump, motor, and generator. The proposed control strategy integrates adaptive compensation, command filtering, and sliding mode control to ensure high-precision pressure regulation and robust system performance under dynamic operating conditions. Both simulation and experimental results validate that the TDCF-BSMC achieves superior tracking accuracy, fast dynamic response, and enhanced robustness compared to existing methods, demonstrating strong potential for real-world deployment in complex electro-hydraulic environments.