Point-to-Point trajectory tracking with discrete sliding mode control of an electro-hydraulic actuator system

Ghazali, Rozaimi and Sam, Y. M. and Hanafi, Dirman and Ngadengon@Ngadungon , Rafidah and Zulfatman, (2011) Point-to-Point trajectory tracking with discrete sliding mode control of an electro-hydraulic actuator system. In: Student Conference on Research and Development (SCOReD 2011), 19th-20th Disember 2011, Cyberjaya.

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Abstract

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-offreedom (2-DOF) control structure. The design consists of DSMC and a feedforward 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.

Item Type:Conference or Workshop Item (Paper)
Uncontrolled Keywords:discrete-time sliding mode control; electro-hydraulic actuator system; position tracking control; point-to-point trajectory
Subjects:T Technology > TJ Mechanical engineering and machinery > TJ212-225 Control engineering systems. Automatic machinery (General)
Divisions:Faculty of Electrical and Electronic Engineering > Department of Robotic and Mechatronic Engineering
ID Code:2203
Deposited By:Nurul Elmy Mohd. Yusof
Deposited On:05 Jan 2012 16:31
Last Modified:05 Jan 2012 16:31

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