Improved third order PID sliding mode controller for electrohydraulic actuator tracking control

Ghazali, Rozaimi and Ghani, Muhamad Fadli and Jaafar, Hazriq Izzuan and Chong, Chee Soon and Md Sam, Yahaya and Has, Zulfatman (2022) Improved third order PID sliding mode controller for electrohydraulic actuator tracking control. Journal of Robotics and Control (JRC), 3 (2). pp. 219-226. ISSN 2715-5056

Text IMPROVED THIRD ORDER PID SLIDING MODE CONTROLLER FOR ELECTROHYDRAULIC ACTUATOR TRACKING CONTROL.PDF Download (2MB)

Abstract

An electrohydraulic actuator (EHA) system is a combination of hydraulic systems and electrical systems which can produce a rapid response, high power-to-weight ratio, and large stiffness. Nevertheless, the EHA system has nonlinear behaviors and modeling uncertainties such as frictions, internal and external leakages, and parametric uncertainties, which lead to significant challenges in controller design for trajectory tracking. Therefore, this paper presents the design of an intelligent adaptive sliding mode proportional integral and derivative (SMCPID) controller, which is the main contribution toward the development of effective control on a third-order model of a double-acting EHA system for trajectory tracking, which significantly reduces chattering under noise disturbance. The sliding mode controller (SMC) is created by utilizing the exponential rule and the Lyapunov theorem to ensure closed-loop stability. The chattering in the SMC controller has been significantly decreased by substituting the modified sigmoid function for the signum function. Particle swarm optimization (PSO) was used to lower the total of absolute errors to adjust the controller. In order to demonstrate the efficacy of the SMCPID controller, the results for trajectory tracking and noise disturbance rejection were compared to those obtained using the proportional integral and derivative (PID), the proportional and derivative (PD), and the sliding mode proportional and derivative (SMCPD) controllers, respectively. In conclusion, the results of the extensive research given have indicated that the SMCPID controller outperforms the PD, PID, and SMCPD controllers in terms of overall performance.

Item Type:	Article
Uncontrolled Keywords:	Sliding Mode Control (SMC), Electrohydraulic Actuator (EHA), PID Sliding Mode Controller, Particle Swarm Optimization (PSO)
Divisions:	Faculty of Electrical Engineering
Depositing User:	Norfaradilla Idayu Ab. Ghafar
Date Deposited:	12 Apr 2023 15:28
Last Modified:	12 Apr 2023 15:28
URI:	http://eprints.utem.edu.my/id/eprint/26618
Statistic Details:	View Download Statistic

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