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Optimized Back-Stepping Controller For Position Tracking Of Electro-Hydraulic Actuators

Sahazati, Md Rozali (2014) Optimized Back-Stepping Controller For Position Tracking Of Electro-Hydraulic Actuators. PhD thesis, Universiti Teknikal Malaysia Melaka.

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Abstract

Electro-hydraulic actuator servo system is commonly found in various types of force and position tracking applications. Nonlinearities of the system come from either the system itself or external disturbance signals. These dynamic characteristics make the controller design for the system to be quite challenging. In order to provide satisfactory system performance for high accuracy trajectory tracking, this thesis presents a model of electro-hydraulic actuator servo system with external disturbance included to the actuator of the system. Backstepping controller is proposed in formulating position tracking control algorithm for this system. The designed controller is integrated with Particle Swarm Optimisation (PSO) and Gravitational Search Algorithm (GSA) techniques as an adaptation method such that the controller adjusts its performance automatically based on the dynamic requirement of the system. The combination of the designed controller with these optimization techniques is verified by giving different types of known perturbation signals to the system’s actuator. Then, the performance of the system with this controller is compared in terms of its tracking output, tracking error and Sum of Squared Error (SSE) as performance indices for each algorithm. The simulation results show that the output of the system tracked the reference input given with both integration of backstepping with PSO and GSA. However, backstepping-PSO produces smaller value of SSE which is around 0.5 as compared to SSE generated by backstepping-GSA.

Item Type: Thesis (PhD)
Uncontrolled Keywords: Hydraulic servomechanisms
Subjects: T Technology > T Technology (General)
T Technology > TJ Mechanical engineering and machinery
Divisions: Library > Disertasi > FTK
Depositing User: Nor Aini Md. Jali
Date Deposited: 12 Apr 2016 04:02
Last Modified: 12 Apr 2016 04:02
URI: http://eprints.utem.edu.my/id/eprint/16216

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