Point-to-point trajectory tracking with two-degree-of-freedom robust control for a non-minimum phase electro-hydraulic system

Ghazali, Rozaimi and Md Sam, Yahaya and Rahmat, Mohd Fua'ad and Zulfatman, Zulfatman (2012) Point-to-point trajectory tracking with two-degree-of-freedom robust control for a non-minimum phase electro-hydraulic system. In: 10th World Congress on Intelligent Control and Automation (WCICA 2012), 6-8 July 2012, Beijing, China.

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Abstract

Electro-hydraulic actuator (EHA) system inherently suffers from uncertainties, nonlinearities and timevarying in its model parameters which makes the modeling and controller designs are more complicated. The main objective of this paper is to perform a robust control design using discretetime sliding mode control (DSMC) with two-degree-of-freedom (2-DOF) control strategy. The proposed controller consists of feedback and feedforward combination which capable to reduce phase lag and steady state error during the trajectory tracking of EHA system. The feedforward controller is developed by implementing the zero phase error tracking control (ZPETC) technique which the main difficulty arises from the nonminimum phase system with no stable inverse. A point-to-point trajectory is used in the experimental works to evaluate the performance of the DSMC. 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:electro-hydraulic actuator system; discrete sliding mode control; point-to-point trajectory tracking control; two-degree-of-freedom control structure
Subjects:T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK7800-8360 Electronics
Divisions:Faculty of Electrical and Electronic Engineering > Department of Robotic and Mechatronic Engineering
ID Code:6134
Deposited By:Normajihan Abd. Rahman
Deposited On:11 Feb 2015 15:43
Last Modified:11 Feb 2015 15:43

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