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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 Hanafi, Dirman and Zulfatman, Zulfatman (2012) Two-degree-of-freedom Robust Control for a Non-minimum Phase Electro-hydraulic System. In: 24th Chinese Control and Decision Conference (CCDC), 23 - 25 May 2012, Taiyuan, China.


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Elwho-hydraulic actuator (E}IA) s}'st€m inherently suftrs from uncertainties, no,nlinearities 8nd time-varying in'its model parameters which makes the modeling and controller designs are more complicated. The main objectivi of ttris p6psr is to perform a rohrst control dcsign using discrctFtime sliding mode control (DSMC) wittl ttnodegree-of-freedom control stratesf. The proposed contnoller consists of feedback and Mforward combination which capable o rodgcc phase lag during the trajectory tracking ofEtIA systea The feedforward contoller is developed by inplemeoting the zero phase €nor tracking contlol (ZPETC) @hnique which the main diffiarlty arises from the nonminimun phase system with no stable inverse. Finally a chaotic trajectory tracking is perbrrred in the expcrimcnal worls to shor" the robustness of DSMC contnoller and performance comparison is made witlt LinearQgadratic-Regulator (LQR) and Proportional-Integral-Derivative (PID) contnollers. The findings show that the proposed mntnoller with AETC ouperfoms the LQR and PID controllers in terms of uacking accuracy

Item Type: Conference or Workshop Item (Paper)
Uncontrolled Keywords: Elec.tro-hydraulic Actuator Systeq Sliding Mod€ Control, Trajecto,ry Trackiog Control and Two-degree-freedom Conhol Suuctre
Subjects: T Technology > TJ Mechanical engineering and machinery > TJ1-162 Mechanical engineering and machinery
Depositing User: M.Iqbal Zainal A
Date Deposited: 06 Jul 2012 09:22
Last Modified: 06 Jul 2012 09:22
URI: http://eprints.uthm.edu.my/id/eprint/2637
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