Robust position tracking control of an electro-hydraulic actuator in the presence of friction and internal leakage
This paper proposes an improved robust position controller for the electro-hydraulic actuator system using the varying boundary layered sliding mode control scheme. The proposed scheme has the ability to improve the position tracking performance of the actuator in the presence of friction and intern...
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| Format: | Article |
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King Fahd University of Petroleum and Minerals
2014
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| _version_ | 1796861279010291712 |
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| author | Rahmat, Mohd. Fua'ad Husain, Abdul Rashid Md. Sam, Yahaya Ahmad @ Mohd. Sanif, Mohamad Noh Zulfatman, Zulfatman Ghazali, Rozaimi Kashif, Kashif Md. Rozali, Sahazati |
| author_facet | Rahmat, Mohd. Fua'ad Husain, Abdul Rashid Md. Sam, Yahaya Ahmad @ Mohd. Sanif, Mohamad Noh Zulfatman, Zulfatman Ghazali, Rozaimi Kashif, Kashif Md. Rozali, Sahazati |
| author_sort | Rahmat, Mohd. Fua'ad |
| collection | ePrints |
| description | This paper proposes an improved robust position controller for the electro-hydraulic actuator system using the varying boundary layered sliding mode control scheme. The proposed scheme has the ability to improve the position tracking performance of the actuator in the presence of friction and internal leakage. The former is represented using the LuGre model while later is modelled as a turbulent flow. To evaluate the effectiveness of the proposed method, MATLAB simulations are carried out under friction and leakage effects. Its performance is compared with the conventional PID and fuzzy PID (FPID) methods. Finally, an experimental rig that comprises of a single-rod and double acting hydraulic cylinder is set up to validate the proposed idea. The software development is carried out in the DSpace 1104 environment using a TMS320F240 digital signal processor. The superiority of the proposed method over the PID and FPID in terms of tracking position is highlighted by simulation and experimental results. |
| first_indexed | 2024-03-05T19:53:56Z |
| format | Article |
| id | utm.eprints-62500 |
| institution | Universiti Teknologi Malaysia - ePrints |
| last_indexed | 2024-03-05T19:53:56Z |
| publishDate | 2014 |
| publisher | King Fahd University of Petroleum and Minerals |
| record_format | dspace |
| spelling | utm.eprints-625002017-06-15T01:19:19Z http://eprints.utm.my/62500/ Robust position tracking control of an electro-hydraulic actuator in the presence of friction and internal leakage Rahmat, Mohd. Fua'ad Husain, Abdul Rashid Md. Sam, Yahaya Ahmad @ Mohd. Sanif, Mohamad Noh Zulfatman, Zulfatman Ghazali, Rozaimi Kashif, Kashif Md. Rozali, Sahazati TK Electrical engineering. Electronics Nuclear engineering This paper proposes an improved robust position controller for the electro-hydraulic actuator system using the varying boundary layered sliding mode control scheme. The proposed scheme has the ability to improve the position tracking performance of the actuator in the presence of friction and internal leakage. The former is represented using the LuGre model while later is modelled as a turbulent flow. To evaluate the effectiveness of the proposed method, MATLAB simulations are carried out under friction and leakage effects. Its performance is compared with the conventional PID and fuzzy PID (FPID) methods. Finally, an experimental rig that comprises of a single-rod and double acting hydraulic cylinder is set up to validate the proposed idea. The software development is carried out in the DSpace 1104 environment using a TMS320F240 digital signal processor. The superiority of the proposed method over the PID and FPID in terms of tracking position is highlighted by simulation and experimental results. King Fahd University of Petroleum and Minerals 2014 Article PeerReviewed Rahmat, Mohd. Fua'ad and Husain, Abdul Rashid and Md. Sam, Yahaya and Ahmad @ Mohd. Sanif, Mohamad Noh and Zulfatman, Zulfatman and Ghazali, Rozaimi and Kashif, Kashif and Md. Rozali, Sahazati (2014) Robust position tracking control of an electro-hydraulic actuator in the presence of friction and internal leakage. Arabian Journal for Science and Engineering, 39 (4). pp. 2965-2978. ISSN 1319-8025 http://dx.doi.org/10.1007/s13369-013-0888-3 |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Rahmat, Mohd. Fua'ad Husain, Abdul Rashid Md. Sam, Yahaya Ahmad @ Mohd. Sanif, Mohamad Noh Zulfatman, Zulfatman Ghazali, Rozaimi Kashif, Kashif Md. Rozali, Sahazati Robust position tracking control of an electro-hydraulic actuator in the presence of friction and internal leakage |
| title | Robust position tracking control of an electro-hydraulic actuator in the presence of friction and internal leakage |
| title_full | Robust position tracking control of an electro-hydraulic actuator in the presence of friction and internal leakage |
| title_fullStr | Robust position tracking control of an electro-hydraulic actuator in the presence of friction and internal leakage |
| title_full_unstemmed | Robust position tracking control of an electro-hydraulic actuator in the presence of friction and internal leakage |
| title_short | Robust position tracking control of an electro-hydraulic actuator in the presence of friction and internal leakage |
| title_sort | robust position tracking control of an electro hydraulic actuator in the presence of friction and internal leakage |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
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