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...

Full description

Bibliographic Details
Main Authors: Hanafi, D., Rahmat, M. F., Ghazali, R., Ngadengon, R., Sam, Y. M., Zulfatman
Format: Conference or Workshop Item
Published: 2011
Subjects:
_version_ 1796858897450926080
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
work_keys_str_mv AT hanafid pointtopointtrajectorytrackingwithdiscreteslidingmodecontrolofanelectrohydraulicactuatorsystem
AT rahmatmf pointtopointtrajectorytrackingwithdiscreteslidingmodecontrolofanelectrohydraulicactuatorsystem
AT ghazalir pointtopointtrajectorytrackingwithdiscreteslidingmodecontrolofanelectrohydraulicactuatorsystem
AT ngadengonr pointtopointtrajectorytrackingwithdiscreteslidingmodecontrolofanelectrohydraulicactuatorsystem
AT samym pointtopointtrajectorytrackingwithdiscreteslidingmodecontrolofanelectrohydraulicactuatorsystem
AT zulfatman pointtopointtrajectorytrackingwithdiscreteslidingmodecontrolofanelectrohydraulicactuatorsystem