Robust controller for electro-mechanical actuators employing sliding and second control modes

A control circuit for controlling an electro-mechanical actuator, comprising:

• a sliding mode controller configured to generate a sliding mode control signal;
• a second controller configured to generate a second mode control signal;
• an error circuit configured to generate an error signal based on a difference between an input signal indicative of a desired position of the electro-mechanical actuator and a feedback signal indicative of an actual position of the electro-mechanical actuator;
• and
• a selector circuit coupled to the sliding mode controller, the second controller, and the error circuit, and configured (i) to select the sliding mode control signal to control the electro-mechanical actuator when the error signal is above a predetermined threshold and (ii) to select the second mode control signal to control the electro-mechanical actuator when the error signal is below the predetermined threshold.

A non-transitory computer-readable medium including instructions which, when executed by a control circuit, cause the control circuit to perform a method for controlling an electro-mechanical actuator, the method comprising:

• receiving a first signal indicating a desired position of the electro-mechanical actuator;
• receiving a second signal indicating an actual position of the electro-mechanical actuator;
• calculating an error signal based on the first signal and the second signal;
• controlling the position of the electro-mechanical actuator in a sliding control mode when the error signal is above a predetermined threshold;
• and
• controlling the position of the electro-mechanical actuator in a second control mode when the error signal is below the predetermined threshold.