Real-time electro-hydraulic trajectory tracking using an optimized sliding mode control design with PID Structure

• Main Authors: Ghazali, Rozaimi, Ghani, Muhamad Fadli, Hanaffi, Mohd Saidi, Jaafar, Hazriq Izzuan, Soon, Chong Chee, Has, Zulfatman
• Format: Conference or Workshop Item
• Language: English
• Published: 2023
• 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
• Institution: Universiti Teknikal Malaysia Melaka

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.