Real-time electro-hydraulic trajectory tracking using an optimized sliding mode control design with PID Structure

Ghazali, Rozaimi and Ghani, Muhamad Fadli and Hanaffi, Mohd Saidi and Jaafar, Hazriq Izzuan and Soon, Chong Chee and Has, Zulfatman (2023) Real-time electro-hydraulic trajectory tracking using an optimized sliding mode control design with PID Structure. In: 5th International Conference on Control and Robotics, ICCR 2023, 23 November 2023 through 25 November 2023, Tokyo.

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Official URL: https://ieeexplore.ieee.org/document/10444829

Abstract

The electro-hydraulic actuator (EHA) tracking control using an approach of sliding mode control with a PID structure denoted as SMCPID is described in this paper. The most optimal SMCPID controller variables had been identified using a particle swarm optimization (PSO) approach, which needed the fewest mathematical interpretations. The closed-loop system with the proposed control is assessed for stability using the stability Lyapunov's theory. Simulation and real-time implementation were used to accumulate the tracking control system's control response in association to assess the trajectory tracking control performance. Using a PCIe-6321 card-equipped EHA workbench, multi-sinusoidal trajectory tracking was implemented in real-time. The proposed controller is superior to the conventional sliding mode controller (SMC) for trajectory tracking control, according to experimental data.

Item Type:	Conference or Workshop Item (Paper)
Uncontrolled Keywords:	Electro-Hydraulic actuator system, Particle swarm optimization, PID sliding structure, Sliding mode control
Divisions:	Faculty Of Electrical Technology And Engineering
Depositing User:	Anis Suraya Nordin
Date Deposited:	17 Oct 2024 16:29
Last Modified:	17 Oct 2024 16:29
URI:	http://eprints.utem.edu.my/id/eprint/28102
Statistic Details:	View Download Statistic

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