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Adaptive Discrete Sliding Mode Control for a Non-minimum Phase Electro-Hydraulic Actuator System

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Book cover The 8th International Conference on Robotic, Vision, Signal Processing & Power Applications

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 291))

Abstract

This paper presents an adaptive robust control technique based on discrete sliding mode control (DSMC) for an electro-hydraulic actuator (EHA) system. A new adaptive control strategy with the enhancement of DSMC with two-degree-of-freedom (2-DOF) structure is proposed. The control scheme that will render uncertain system and time-varying in EHA system’s parameters can be obtained by the integration of recursive system identification technique. A comprehensive performance evaluation with quantitative measures and validation of the tracking performance is presented. In the experimental studies, Optimal Linear Quadratic Regulator (LQR) and Proportional-Integral-Derivative (PID) are implemented to be compared with the proposed robust controller. The results showed that robust system performance is achieved with DSMC for various system conditions while capable to reduce the control effort and gives better tracking performance as compared to the conventional LQR and PID controllers.

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Acknowledgments

The authors would like to thank Universiti Teknologi Malaysia (UTM) for the Research University Grant Vot 05H02, Universiti Tun Hussein Onn Malaysia (UTHM) and Ministry of Science, Technology and Innovation (MOSTI) Malaysia for their support.

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Authors and Affiliations

  1. Advanced Mechatronics Research Group (AdMIRE), Department of Mechatronics and Robotics Engineering, Faculty of Electrical and Electronic Engineering, Universiti Tun Hussein Onn Malaysia, 86400, Batu Pahat, Malaysia

    Rozaimi Ghazali

  2. Department of Control and Mechatronic Engineering, Faculty of Electrical Engineering, Universiti Teknologi Malaysia, 81310, Skudai, Malaysia

    Rozaimi Ghazali, Yahaya Md Sam, Mohd Fua’ad Rahmat & Zulfatman Has

Authors
  1. Rozaimi Ghazali
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  2. Yahaya Md Sam
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  3. Mohd Fua’ad Rahmat
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  4. Zulfatman Has
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Corresponding author

Correspondence to Rozaimi Ghazali .

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Editors and Affiliations

  1. School of Electrical & Electronic Engineering, Universiti Sains Malaysia, Nibong Tebal, Malaysia

    Harsa Amylia Mat Sakim

  2. School of Electrical & Electronic Engineering, Universiti Sains Malaysia, Nibong Tebal, Malaysia

    Mohd Tafir Mustaffa

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Ghazali, R., Sam, Y.M., Rahmat, M.F., Has, Z. (2014). Adaptive Discrete Sliding Mode Control for a Non-minimum Phase Electro-Hydraulic Actuator System. In: Mat Sakim, H., Mustaffa, M. (eds) The 8th International Conference on Robotic, Vision, Signal Processing & Power Applications. Lecture Notes in Electrical Engineering, vol 291. Springer, Singapore. https://doi.org/10.1007/978-981-4585-42-2_1

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  • DOI: https://doi.org/10.1007/978-981-4585-42-2_1

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-4585-41-5

  • Online ISBN: 978-981-4585-42-2

  • eBook Packages: EngineeringEngineering (R0)

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