Improved Third Order PID Sliding Mode Controller for Electrohydraulic Actuator Tracking Control
| العنوان: | Improved Third Order PID Sliding Mode Controller for Electrohydraulic Actuator Tracking Control |
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| المؤلفون: | Muhamad Fadli Ghani, Rozaimi Ghazali, Hazriq Izzuan Jaafar, Chong Chee Soon, Yahaya Md Sam, Zulfatman Has |
| المصدر: | Journal of Robotics and Control (JRC). 3:219-226 |
| بيانات النشر: | Universitas Muhammadiyah Yogyakarta, 2022. |
| سنة النشر: | 2022 |
| مصطلحات موضوعية: | Artificial Intelligence, Control and Systems Engineering |
| الوصف: | An electrohydraulic actuator (EHA) system is a combination of hydraulic systems and electrical systems which can produce a rapid response, high power-to-weight ratio, and large stiffness. Nevertheless, the EHA system has nonlinear behaviors and modeling uncertainties such as frictions, internal and external leakages, and parametric uncertainties, which lead to significant challenges in controller design for trajectory tracking. Therefore, this paper presents the design of an intelligent adaptive sliding mode proportional integral and derivative (SMCPID) controller, which is the main contribution toward the development of effective control on a third-order model of a double-acting EHA system for trajectory tracking, which significantly reduces chattering under noise disturbance. The sliding mode controller (SMC) is created by utilizing the exponential rule and the Lyapunov theorem to ensure closed-loop stability. The chattering in the SMC controller has been significantly decreased by substituting the modified sigmoid function for the signum function. Particle swarm optimization (PSO) was used to lower the total of absolute errors to adjust the controller. In order to demonstrate the efficacy of the SMCPID controller, the results for trajectory tracking and noise disturbance rejection were compared to those obtained using the proportional integral and derivative (PID), the proportional and derivative (PD), and the sliding mode proportional and derivative (SMCPD) controllers, respectively. In conclusion, the results of the extensive research given have indicated that the SMCPID controller outperforms the PD, PID, and SMCPD controllers in terms of overall performance. |
| تدمد: | 2715-5072 2715-5056 |
| URL الوصول: | https://explore.openaire.eu/search/publication?articleId=doi_________::a478374ffed1158ee774fe575ff7340c https://doi.org/10.18196/jrc.v3i2.14236 |
| حقوق: | OPEN |
| رقم الأكسشن: | edsair.doi...........a478374ffed1158ee774fe575ff7340c |
| قاعدة البيانات: | OpenAIRE |
| تدمد: | 27155072 27155056 |
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