Point-to-point trajectory tracking with discrete sliding mode control of an electro-hydraulic actuator system
This paper presents the position tracking performance of an electro-hydraulic hydraulic actuator (EHA) system by using a discrete sliding mode control (DSMC). A point-to-point trajectory is used in the experimental works to evaluate the performance of the DSMC which is design in two-degree-of-freedo...
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2011
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author | Hanafi, D. Rahmat, M. F. Ghazali, R. Ngadengon, R. Sam, Y. M. Zulfatman |
author_facet | Hanafi, D. Rahmat, M. F. Ghazali, R. Ngadengon, R. Sam, Y. M. Zulfatman |
author_sort | Hanafi, D. |
collection | ePrints |
description | This paper presents the position tracking performance of an electro-hydraulic hydraulic actuator (EHA) system by using a discrete sliding mode control (DSMC). A point-to-point trajectory is used in the experimental works to evaluate the performance of the DSMC which is design in two-degree-of-freedom (2-DOF) control structure. The design consists of DSMC and a feed forward controller. The control law is derived from the reaching law concept and its parameters are determined methodically based on the identified model. Experimental results reveal that the DMSC with 2-DOF control structure is highly robust and capable to deal with the uncertainties and disturbances occur during the position tracking control for different point of trajectories. It is also shows that the proposed controller can achieve better tracking performance as compared to conventional LQR and PID controller. © 2011 IEEE. |
first_indexed | 2024-03-05T19:19:11Z |
format | Conference or Workshop Item |
id | utm.eprints-46153 |
institution | Universiti Teknologi Malaysia - ePrints |
last_indexed | 2024-03-05T19:19:11Z |
publishDate | 2011 |
record_format | dspace |
spelling | utm.eprints-461532017-07-02T04:16:56Z http://eprints.utm.my/46153/ Point-to-point trajectory tracking with discrete sliding mode control of an electro-hydraulic actuator system Hanafi, D. Rahmat, M. F. Ghazali, R. Ngadengon, R. Sam, Y. M. Zulfatman TK Electrical engineering. Electronics Nuclear engineering This paper presents the position tracking performance of an electro-hydraulic hydraulic actuator (EHA) system by using a discrete sliding mode control (DSMC). A point-to-point trajectory is used in the experimental works to evaluate the performance of the DSMC which is design in two-degree-of-freedom (2-DOF) control structure. The design consists of DSMC and a feed forward controller. The control law is derived from the reaching law concept and its parameters are determined methodically based on the identified model. Experimental results reveal that the DMSC with 2-DOF control structure is highly robust and capable to deal with the uncertainties and disturbances occur during the position tracking control for different point of trajectories. It is also shows that the proposed controller can achieve better tracking performance as compared to conventional LQR and PID controller. © 2011 IEEE. 2011 Conference or Workshop Item PeerReviewed Hanafi, D. and Rahmat, M. F. and Ghazali, R. and Ngadengon, R. and Sam, Y. M. and Zulfatman (2011) Point-to-point trajectory tracking with discrete sliding mode control of an electro-hydraulic actuator system. In: IEEE Student Conference On Research And Deveopment (Scored). http://dx.doi.org/10.1109/SCOReD.2011.6148725 |
spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Hanafi, D. Rahmat, M. F. Ghazali, R. Ngadengon, R. Sam, Y. M. Zulfatman Point-to-point trajectory tracking with discrete sliding mode control of an electro-hydraulic actuator system |
title | Point-to-point trajectory tracking with discrete sliding mode control of an electro-hydraulic actuator system |
title_full | Point-to-point trajectory tracking with discrete sliding mode control of an electro-hydraulic actuator system |
title_fullStr | Point-to-point trajectory tracking with discrete sliding mode control of an electro-hydraulic actuator system |
title_full_unstemmed | Point-to-point trajectory tracking with discrete sliding mode control of an electro-hydraulic actuator system |
title_short | Point-to-point trajectory tracking with discrete sliding mode control of an electro-hydraulic actuator system |
title_sort | point to point trajectory tracking with discrete sliding mode control of an electro hydraulic actuator system |
topic | TK Electrical engineering. Electronics Nuclear engineering |
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