Staff View: Robust Position Tracking Control of an Electro-Hydraulic Actuator in the Presence of Friction and Internal Leakage

Robust Position Tracking Control of an Electro-Hydraulic Actuator in the Presence of Friction and Internal Leakage

This paper proposes an improved robust position controller for the electro-hydraulic actuator system using the varying boundary layered sliding mode control scheme. The proposed scheme has the ability to improve the position tracking performance of the actuator in the presence of friction and i...

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Main Authors:	Has, Zulfatman, Rahmat, Mohd Fua’ad, Husain, Abdul Rashid, Ishaque, Kashif, Ghazali, Rozaimi, Ahmad, Mohamed Noh, Md Sam, Yahaya, Md Rozali, Sahazati
Format:	Article
Language:	English
Published:	Springer 2013
Subjects:	TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://eprints.utem.edu.my/id/eprint/12355/1/Robust_Position_Tracking_Control_of_an_Electrohydraulic_Actuator_In_The_Presence_Of_Friction_and_Internal_Leakage.pdf http://eprints.utem.edu.my/id/eprint/12355/
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id	my.utem.eprints.12355
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spelling	my.utem.eprints.123552015-05-28T04:24:14Z http://eprints.utem.edu.my/id/eprint/12355/ Robust Position Tracking Control of an Electro-Hydraulic Actuator in the Presence of Friction and Internal Leakage Has, Zulfatman Rahmat, Mohd Fua’ad Husain, Abdul Rashid Ishaque, Kashif Ghazali, Rozaimi Ahmad, Mohamed Noh Md Sam, Yahaya Md Rozali, Sahazati TK Electrical engineering. Electronics Nuclear engineering This paper proposes an improved robust position controller for the electro-hydraulic actuator system using the varying boundary layered sliding mode control scheme. The proposed scheme has the ability to improve the position tracking performance of the actuator in the presence of friction and internal leakage. The former is represented using the LuGre model while later is modelled as a turbulent flow. To evaluate the effectiveness of the proposed method, MATLAB simulations are carried out under friction and leakage effects. Its performance is compared with the conventional PID and fuzzy PID (FPID) methods. Finally, an experimental rig that comprises of a single-rod and double acting hydraulic cylinder is set up to validate the proposed idea. The software development is carried out in the DSpace 1104 environment using a TMS320F240 digital signal processor. The superiority of the proposed method over the PID and FPID in terms of tracking position is highlighted by simulation and experimental results Springer 2013-11-20 Article NonPeerReviewed application/pdf en http://eprints.utem.edu.my/id/eprint/12355/1/Robust_Position_Tracking_Control_of_an_Electrohydraulic_Actuator_In_The_Presence_Of_Friction_and_Internal_Leakage.pdf Has, Zulfatman and Rahmat, Mohd Fua’ad and Husain, Abdul Rashid and Ishaque, Kashif and Ghazali, Rozaimi and Ahmad, Mohamed Noh and Md Sam, Yahaya and Md Rozali, Sahazati (2013) Robust Position Tracking Control of an Electro-Hydraulic Actuator in the Presence of Friction and Internal Leakage. Arab J Sci Eng. pp. 1-14. ISSN 1319-8025
institution	Universiti Teknikal Malaysia Melaka
building	UTEM Library
collection	Institutional Repository
continent	Asia
country	Malaysia
content_provider	Universiti Teknikal Malaysia Melaka
content_source	UTEM Institutional Repository
url_provider	http://eprints.utem.edu.my/
language	English
topic	TK Electrical engineering. Electronics Nuclear engineering
spellingShingle	TK Electrical engineering. Electronics Nuclear engineering Has, Zulfatman Rahmat, Mohd Fua’ad Husain, Abdul Rashid Ishaque, Kashif Ghazali, Rozaimi Ahmad, Mohamed Noh Md Sam, Yahaya Md Rozali, Sahazati Robust Position Tracking Control of an Electro-Hydraulic Actuator in the Presence of Friction and Internal Leakage
description	This paper proposes an improved robust position controller for the electro-hydraulic actuator system using the varying boundary layered sliding mode control scheme. The proposed scheme has the ability to improve the position tracking performance of the actuator in the presence of friction and internal leakage. The former is represented using the LuGre model while later is modelled as a turbulent flow. To evaluate the effectiveness of the proposed method, MATLAB simulations are carried out under friction and leakage effects. Its performance is compared with the conventional PID and fuzzy PID (FPID) methods. Finally, an experimental rig that comprises of a single-rod and double acting hydraulic cylinder is set up to validate the proposed idea. The software development is carried out in the DSpace 1104 environment using a TMS320F240 digital signal processor. The superiority of the proposed method over the PID and FPID in terms of tracking position is highlighted by simulation and experimental results
format	Article
author	Has, Zulfatman Rahmat, Mohd Fua’ad Husain, Abdul Rashid Ishaque, Kashif Ghazali, Rozaimi Ahmad, Mohamed Noh Md Sam, Yahaya Md Rozali, Sahazati
author_facet	Has, Zulfatman Rahmat, Mohd Fua’ad Husain, Abdul Rashid Ishaque, Kashif Ghazali, Rozaimi Ahmad, Mohamed Noh Md Sam, Yahaya Md Rozali, Sahazati
author_sort	Has, Zulfatman
title	Robust Position Tracking Control of an Electro-Hydraulic Actuator in the Presence of Friction and Internal Leakage
title_short	Robust Position Tracking Control of an Electro-Hydraulic Actuator in the Presence of Friction and Internal Leakage
title_full	Robust Position Tracking Control of an Electro-Hydraulic Actuator in the Presence of Friction and Internal Leakage
title_fullStr	Robust Position Tracking Control of an Electro-Hydraulic Actuator in the Presence of Friction and Internal Leakage
title_full_unstemmed	Robust Position Tracking Control of an Electro-Hydraulic Actuator in the Presence of Friction and Internal Leakage
title_sort	robust position tracking control of an electro-hydraulic actuator in the presence of friction and internal leakage
publisher	Springer
publishDate	2013
url	http://eprints.utem.edu.my/id/eprint/12355/1/Robust_Position_Tracking_Control_of_an_Electrohydraulic_Actuator_In_The_Presence_Of_Friction_and_Internal_Leakage.pdf http://eprints.utem.edu.my/id/eprint/12355/
_version_	1665905495521624064
score	13.251813

Robust Position Tracking Control of an Electro-Hydraulic Actuator in the Presence of Friction and Internal Leakage

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