Real-time electro-hydraulic trajectory tracking using an optimized sliding mode control design with PID Structure
The electro-hydraulic actuator (EHA) tracking control using an approach of sliding mode control with a PID structure denoted as SMCPID is described in this paper. The most optimal SMCPID controller variables had been identified using a particle swarm optimization (PSO) approach, which needed the...
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| Main Authors: | , , , , , |
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| Format: | Conference or Workshop Item |
| Language: | English |
| Published: |
2023
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| Online Access: | http://eprints.utem.edu.my/id/eprint/28102/1/Key%20factors%20influencing%20a%20decentralized%20IoT-based%20electronic%20government%20model%20for%20higher%20education%20in%20Iraq%20an%20intelligent%20systems%20perspective.pdf http://eprints.utem.edu.my/id/eprint/28102/ https://ieeexplore.ieee.org/document/10444829 |
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| Institution: | Universiti Teknikal Malaysia Melaka |
| Language: | English |
| Summary: | The electro-hydraulic actuator (EHA) tracking
control using an approach of sliding mode control with a PID
structure denoted as SMCPID is described in this paper. The most
optimal SMCPID controller variables had been identified using a
particle swarm optimization (PSO) approach, which needed the
fewest mathematical interpretations. The closed-loop system with
the proposed control is assessed for stability using the stability
Lyapunov's theory. Simulation and real-time implementation were
used to accumulate the tracking control system's control response
in association to assess the trajectory tracking control
performance. Using a PCIe-6321 card-equipped EHA workbench,
multi-sinusoidal trajectory tracking was implemented in real-time.
The proposed controller is superior to the conventional sliding
mode controller (SMC) for trajectory tracking control, according
to experimental data. |
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