Optimized Back-Stepping Controller For Position Tracking Of Electro-Hydraulic Actuators

Electro-hydraulic actuator servo system is commonly found in various types of force and position tracking applications. Nonlinearities of the system come from either the system itself or external disturbance signals. These dynamic characteristics make the controller design for the system to be quit...

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Main Author:	Sahazati, Md Rozali
Format:	Thesis
Language:	English
Published:	2014
Subjects:	T Technology (General) TJ Mechanical engineering and machinery
Online Access:	http://eprints.utem.edu.my/id/eprint/16216/1/Optimized%20Back-Stepping%20Controller%20For%20Position%20Tracking%20Of%20Electro-Hydraulic%20Actuators%2024%20Pages.pdf
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spelling	my-utem-ep.162162016-04-12T04:02:18Z Optimized Back-Stepping Controller For Position Tracking Of Electro-Hydraulic Actuators 2014 Sahazati, Md Rozali T Technology (General) TJ Mechanical engineering and machinery Electro-hydraulic actuator servo system is commonly found in various types of force and position tracking applications. Nonlinearities of the system come from either the system itself or external disturbance signals. These dynamic characteristics make the controller design for the system to be quite challenging. In order to provide satisfactory system performance for high accuracy trajectory tracking, this thesis presents a model of electro-hydraulic actuator servo system with external disturbance included to the actuator of the system. Backstepping controller is proposed in formulating position tracking control algorithm for this system. The designed controller is integrated with Particle Swarm Optimisation (PSO) and Gravitational Search Algorithm (GSA) techniques as an adaptation method such that the controller adjusts its performance automatically based on the dynamic requirement of the system. The combination of the designed controller with these optimization techniques is verified by giving different types of known perturbation signals to the system’s actuator. Then, the performance of the system with this controller is compared in terms of its tracking output, tracking error and Sum of Squared Error (SSE) as performance indices for each algorithm. The simulation results show that the output of the system tracked the reference input given with both integration of backstepping with PSO and GSA. However, backstepping-PSO produces smaller value of SSE which is around 0.5 as compared to SSE generated by backstepping-GSA. 2014 Thesis http://eprints.utem.edu.my/id/eprint/16216/ http://eprints.utem.edu.my/id/eprint/16216/1/Optimized%20Back-Stepping%20Controller%20For%20Position%20Tracking%20Of%20Electro-Hydraulic%20Actuators%2024%20Pages.pdf text en public http://library.utem.edu.my:8000/elmu/index.jsp?module=webopac-d&action=fullDisplayRetriever.jsp&szMaterialNo=0000091097 phd doctoral Universiti Teknikal Malaysia Melaka Faculty Of Engineering Technology
institution	Universiti Teknikal Malaysia Melaka
collection	UTeM Repository
language	English
topic	T Technology (General) TJ Mechanical engineering and machinery
spellingShingle	T Technology (General) TJ Mechanical engineering and machinery Sahazati, Md Rozali Optimized Back-Stepping Controller For Position Tracking Of Electro-Hydraulic Actuators
description	Electro-hydraulic actuator servo system is commonly found in various types of force and position tracking applications. Nonlinearities of the system come from either the system itself or external disturbance signals. These dynamic characteristics make the controller design for the system to be quite challenging. In order to provide satisfactory system performance for high accuracy trajectory tracking, this thesis presents a model of electro-hydraulic actuator servo system with external disturbance included to the actuator of the system. Backstepping controller is proposed in formulating position tracking control algorithm for this system. The designed controller is integrated with Particle Swarm Optimisation (PSO) and Gravitational Search Algorithm (GSA) techniques as an adaptation method such that the controller adjusts its performance automatically based on the dynamic requirement of the system. The combination of the designed controller with these optimization techniques is verified by giving different types of known perturbation signals to the system’s actuator. Then, the performance of the system with this controller is compared in terms of its tracking output, tracking error and Sum of Squared Error (SSE) as performance indices for each algorithm. The simulation results show that the output of the system tracked the reference input given with both integration of backstepping with PSO and GSA. However, backstepping-PSO produces smaller value of SSE which is around 0.5 as compared to SSE generated by backstepping-GSA.
format	Thesis
qualification_name	Doctor of Philosophy (PhD.)
qualification_level	Doctorate
author	Sahazati, Md Rozali
author_facet	Sahazati, Md Rozali
author_sort	Sahazati, Md Rozali
title	Optimized Back-Stepping Controller For Position Tracking Of Electro-Hydraulic Actuators
title_short	Optimized Back-Stepping Controller For Position Tracking Of Electro-Hydraulic Actuators
title_full	Optimized Back-Stepping Controller For Position Tracking Of Electro-Hydraulic Actuators
title_fullStr	Optimized Back-Stepping Controller For Position Tracking Of Electro-Hydraulic Actuators
title_full_unstemmed	Optimized Back-Stepping Controller For Position Tracking Of Electro-Hydraulic Actuators
title_sort	optimized back-stepping controller for position tracking of electro-hydraulic actuators
granting_institution	Universiti Teknikal Malaysia Melaka
granting_department	Faculty Of Engineering Technology
publishDate	2014
url	http://eprints.utem.edu.my/id/eprint/16216/1/Optimized%20Back-Stepping%20Controller%20For%20Position%20Tracking%20Of%20Electro-Hydraulic%20Actuators%2024%20Pages.pdf
_version_	1747833887442075648

Optimized Back-Stepping Controller For Position Tracking Of Electro-Hydraulic Actuators

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