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Controller design of hydraulic actuator system using self-tuning and model reference adaptive control

Nowadays, hydraulic actuator system has become a major drive system in industrial sector especially when involving motion control or position tracking applications. However, due to its natural behaviour which is highly nonlinear, associated with many uncertainties and having parameters that change w...

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Main Author: Salleh, Sazilah
Format: Thesis
Language:English
Published: 2015
Subjects:
TK Electrical engineering. Electronics Nuclear engineering
Online Access:http://eprints.utm.my/id/eprint/77909/1/SazilahSallehMFKE2016.pdf
http://eprints.utm.my/id/eprint/77909/
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spelling my.utm.779092018-07-18T04:11:24Z http://eprints.utm.my/id/eprint/77909/ Controller design of hydraulic actuator system using self-tuning and model reference adaptive control Salleh, Sazilah TK Electrical engineering. Electronics Nuclear engineering Nowadays, hydraulic actuator system has become a major drive system in industrial sector especially when involving motion control or position tracking applications. However, due to its natural behaviour which is highly nonlinear, associated with many uncertainties and having parameters that change with timevariation, handling and controlling a hydraulic actuator system is a challenging task. The purpose of this study is to model and to design a controller for hydraulic actuator system. Thus, in order to develop a system that meets the desired performance such as a highly-accurate trajectory tracking, a special knowledge about the system togather with a suitable modelling and control design for the system is mandatory. In this research, Self-tuning Controller using Generalized Minimum Variance Control Strategy and Model Reference Adaptive Controller using Gradient Method has been designed to improve the performance of hydraulic actuator system. System Identification technique with the aid of System Identification Toolbox in MATLAB is used to estimate the mathematical model of the system. System Identification is chosen because it only requires a set of input and output data without the prior knowledge about the system, in order to obtain the system’s transfer function. Auto Regressive with exogeneous input (ARX) model was selected as system’s model structure and the best model among ARX orders was selected based on the analysed result of fitting percentage, loss function and Akaike’s Final Prediction Error. The obtained model was then used to develop the controller for hydraulic actuator system. The output performance was analysed and it has been shown that the output of controlled system successfully tracked the given input signal for both simulation and experimental modes. It has also been observed that Model Reference Adaptive Controller using Gradient Method demonstrates a better output performance compared to Self-tuning Controller using Generalized Minimum Variance Control Strategy in terms of having a minimum phase lagging and a better transient response in terms of rise time, settling time and steady state error. 2015-03 Thesis NonPeerReviewed application/pdf en http://eprints.utm.my/id/eprint/77909/1/SazilahSallehMFKE2016.pdf Salleh, Sazilah (2015) Controller design of hydraulic actuator system using self-tuning and model reference adaptive control. Masters thesis, Universiti Teknologi Malaysia, Faculty of Electrical Engineering. http://dms.library.utm.my:8080/vital/access/manager/Repository/vital:93973
institution Universiti Teknologi Malaysia
building UTM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Teknologi Malaysia
content_source UTM Institutional Repository
url_provider http://eprints.utm.my/
language English
topic TK Electrical engineering. Electronics Nuclear engineering
spellingShingle TK Electrical engineering. Electronics Nuclear engineering
Salleh, Sazilah
Controller design of hydraulic actuator system using self-tuning and model reference adaptive control
description Nowadays, hydraulic actuator system has become a major drive system in industrial sector especially when involving motion control or position tracking applications. However, due to its natural behaviour which is highly nonlinear, associated with many uncertainties and having parameters that change with timevariation, handling and controlling a hydraulic actuator system is a challenging task. The purpose of this study is to model and to design a controller for hydraulic actuator system. Thus, in order to develop a system that meets the desired performance such as a highly-accurate trajectory tracking, a special knowledge about the system togather with a suitable modelling and control design for the system is mandatory. In this research, Self-tuning Controller using Generalized Minimum Variance Control Strategy and Model Reference Adaptive Controller using Gradient Method has been designed to improve the performance of hydraulic actuator system. System Identification technique with the aid of System Identification Toolbox in MATLAB is used to estimate the mathematical model of the system. System Identification is chosen because it only requires a set of input and output data without the prior knowledge about the system, in order to obtain the system’s transfer function. Auto Regressive with exogeneous input (ARX) model was selected as system’s model structure and the best model among ARX orders was selected based on the analysed result of fitting percentage, loss function and Akaike’s Final Prediction Error. The obtained model was then used to develop the controller for hydraulic actuator system. The output performance was analysed and it has been shown that the output of controlled system successfully tracked the given input signal for both simulation and experimental modes. It has also been observed that Model Reference Adaptive Controller using Gradient Method demonstrates a better output performance compared to Self-tuning Controller using Generalized Minimum Variance Control Strategy in terms of having a minimum phase lagging and a better transient response in terms of rise time, settling time and steady state error.
format Thesis
author Salleh, Sazilah
author_facet Salleh, Sazilah
author_sort Salleh, Sazilah
title Controller design of hydraulic actuator system using self-tuning and model reference adaptive control
title_short Controller design of hydraulic actuator system using self-tuning and model reference adaptive control
title_full Controller design of hydraulic actuator system using self-tuning and model reference adaptive control
title_fullStr Controller design of hydraulic actuator system using self-tuning and model reference adaptive control
title_full_unstemmed Controller design of hydraulic actuator system using self-tuning and model reference adaptive control
title_sort controller design of hydraulic actuator system using self-tuning and model reference adaptive control
publishDate 2015
url http://eprints.utm.my/id/eprint/77909/1/SazilahSallehMFKE2016.pdf
http://eprints.utm.my/id/eprint/77909/
http://dms.library.utm.my:8080/vital/access/manager/Repository/vital:93973
_version_ 1643657670320717824
score 13.211869

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