Point-to-point trajectory tracking with discrete sliding mode control of an electro-hydraulic actuator system
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-freedo...
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| creator | Ghazali, R. Sam, Y. M. Rahmat, M. F. Hanafi, D. Ngadengon, R. Zulfatman, Z. |
| description | 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. |
| doi_str_mv | 10.1109/SCOReD.2011.6148725 |
| format | Conference Proceeding |
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M. ; Rahmat, M. F. ; Hanafi, D. ; Ngadengon, R. ; Zulfatman, Z.</creator><creatorcontrib>Ghazali, R. ; Sam, Y. M. ; Rahmat, M. F. ; Hanafi, D. ; Ngadengon, R. ; Zulfatman, Z.</creatorcontrib><description>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. 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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.</description><subject>discrete-time sliding mode control</subject><subject>electro-hydraulic actuator system</subject><subject>Hydraulic actuators</subject><subject>Mathematical model</subject><subject>point-to-point trajectory</subject><subject>position tracking control</subject><subject>Trajectory</subject><subject>Uncertainty</subject><subject>Valves</subject><isbn>1467300993</isbn><isbn>9781467300995</isbn><isbn>1467301027</isbn><isbn>9781467301015</isbn><isbn>1467301019</isbn><isbn>9781467301022</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2011</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNo1UMtKAzEAjIig1n5BL_mBrXlnc5T6hEJFey_ZPGzq7qYkKbJ_7y7WucwDZg4DwAKjJcZI3X-uNh_ucUkQxkuBWS0JvwC3mAlJEUZEXv4bpBS9BvOcD2iEEEoifgO69xj6UpVYHScBS9IHZ0pMwyTNd-i_4E8oe2hDNskVB3Mb7JR20TpoYl9SbGH0UPfQtWM1xWo_2KRPbTBQm3LS4xrMQy6uuwNXXrfZzc88A9vnp-3qtVpvXt5WD-sqKFQqbhTBRBqBeKMb6b0nkhjCLDc1Isw3WmhfE08NY1Zxi2rLasGpF9RbKzmdgcXfbHDO7Y4pdDoNu_M79BdCBFxB</recordid><startdate>201112</startdate><enddate>201112</enddate><creator>Ghazali, R.</creator><creator>Sam, Y. 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F.</creatorcontrib><creatorcontrib>Hanafi, D.</creatorcontrib><creatorcontrib>Ngadengon, R.</creatorcontrib><creatorcontrib>Zulfatman, Z.</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan All Online (POP All Online) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP All) 1998-Present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Ghazali, R.</au><au>Sam, Y. M.</au><au>Rahmat, M. F.</au><au>Hanafi, D.</au><au>Ngadengon, R.</au><au>Zulfatman, Z.</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Point-to-point trajectory tracking with discrete sliding mode control of an electro-hydraulic actuator system</atitle><btitle>2011 IEEE Student Conference on Research and Development</btitle><stitle>SCOReD</stitle><date>2011-12</date><risdate>2011</risdate><spage>148</spage><epage>153</epage><pages>148-153</pages><isbn>1467300993</isbn><isbn>9781467300995</isbn><eisbn>1467301027</eisbn><eisbn>9781467301015</eisbn><eisbn>1467301019</eisbn><eisbn>9781467301022</eisbn><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.</abstract><pub>IEEE</pub><doi>10.1109/SCOReD.2011.6148725</doi><tpages>6</tpages></addata></record> |
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| language | eng |
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| subjects | discrete-time sliding mode control electro-hydraulic actuator system Hydraulic actuators Mathematical model point-to-point trajectory position tracking control Trajectory Uncertainty Valves |
| title | Point-to-point trajectory tracking with discrete sliding mode control of an electro-hydraulic actuator system |
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