Hanafi, D. and Rahmat, M. F. and Ghazali, R. and Ngadengon, R. and Sam, Y. M. and Zulfatman (2011) Point-to-point trajectory tracking with discrete sliding mode control of an electro-hydraulic actuator system. In: IEEE Student Conference On Research And Deveopment (Scored).
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Official URL: http://dx.doi.org/10.1109/SCOReD.2011.6148725
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. © 2011 IEEE.
| Item Type: | Conference or Workshop Item (Paper) |
|---|---|
| Uncontrolled Keywords: | variable structure systems, discrete systems, electrohydraulic control equipment, feedforward, hydraulic actuators, position control, point-to-point trajectory, discrete-time sliding mode control, electro-hydraulic actuator system, position tracking control |
| Subjects: | T Technology > TK Electrical engineering. Electronics Nuclear engineering |
| Divisions: | Electrical Engineering |
| ID Code: | 46153 |
| Deposited By: | Haliza Zainal |
| Deposited On: | 10 Jun 2015 03:01 |
| Last Modified: | 02 Jul 2017 04:16 |
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