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

Ghazali, Rozaimi and Sam, Y. M. and Rahmat, M. F. and Hanafi, Dirman and Ngadengon, Rafidah and Zulfatman, Zulfatman Point-to-point trajectory tracking with discrete sliding mode control of an electro-hydraulic actuator system. Research and Development (SCOReD), 2011 IEEE Student Conference .

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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-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.

Item Type:Article
Uncontrolled Keywords:discrete-time sliding mode control; electro-hydraulic actuator system; position tracking control; point-to-point trajectory
Subjects:T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK411-415 Electrical engineering and testing laboratories
Divisions:Faculty of Electrical and Electronic Engineering > Department of Robotic and Mechatronic Engineering
ID Code:3199
Deposited By:Norfauzan Md Sarwin
Deposited On:07 Nov 2012 15:28
Last Modified:07 Nov 2012 15:28

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