Adaptive discrete sliding mode control of an electro-hydraulic actuator system

This thesis presents system identification and development of an adaptive robust control strategy based on discrete sliding mode control (DSMC) with zero phase error tracking control (ZPETC) for an electro-hydraulic actuator (EHA) system. A linear type actuation of the EHA system using a single-ende...

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Main Author:	Ghazali, Rozaimi
Format:	Thesis
Language:	English
Published:	2013
Subjects:	TK Electrical engineering Electronics Nuclear engineering
Online Access:	http://eprints.utm.my/id/eprint/43965/5/RozaimiGhazaliPFKE2013.pdf
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spelling	my-utm-ep.439652017-06-29T04:45:59Z Adaptive discrete sliding mode control of an electro-hydraulic actuator system 2013-08 Ghazali, Rozaimi TK Electrical engineering. Electronics Nuclear engineering This thesis presents system identification and development of an adaptive robust control strategy based on discrete sliding mode control (DSMC) with zero phase error tracking control (ZPETC) for an electro-hydraulic actuator (EHA) system. A linear type actuation of the EHA system using a single-ended cylinder controlled by a servo valve was considered in the experimental design. In the system identification process, EHA system was modelled using parametric linear time varying equations with parameters that were identified using recursive and non-recursive identification techniques. An identification process that recursively computes the dynamic model was performed using recursive least square with varying forgetting factors and the estimated linear model was validated through statistical approaches. From the identification process, a non-minimum phase model of EHA system with a high sampling time was obtained. To formulate the control algorithm for the EHA system, a robust feedback control theory with feedforward structure was employed to overcome the non-minimum phase problem in EHA system. The algorithm was also subjected to model uncertainty and non-linear characteristics. As a result, a new robust controller with an integrated design scheme based on DSMC and ZPETC was developed using a reaching law technique where parameters of the controller had been analytically determined. Subsequently, the new adaptive control strategy was improved by enhancing DSMC and ZPETC that are adaptable with variations in the parameters of EHA system. In simulation and experimental studies, an optimal linear-quadraticregulator (LQR) and a proportional-integral-derivative (PID) were implemented in the position tracking control as comparisons with the proposed robust controller. A comprehensive performance evaluation with quantitative measures of the tracking performance is presented and the results show that the robust system performance was achieved with DSMC under different operating system conditions. The findings also demonstrated that the new adaptive DSMC with ZPETC structure has reduced the control effort and gave a better performance in terms of tracking accuracy as compared to the conventional DSMC, LQR and PID controllers. 2013-08 Thesis http://eprints.utm.my/id/eprint/43965/ http://eprints.utm.my/id/eprint/43965/5/RozaimiGhazaliPFKE2013.pdf application/pdf en public phd doctoral Universiti Teknologi Malaysia, Faculty of Electrical Engineering Faculty of Electrical Engineering
institution	Universiti Teknologi Malaysia
collection	UTM Institutional Repository
language	English
topic	TK Electrical engineering Electronics Nuclear engineering
spellingShingle	TK Electrical engineering Electronics Nuclear engineering Ghazali, Rozaimi Adaptive discrete sliding mode control of an electro-hydraulic actuator system
description	This thesis presents system identification and development of an adaptive robust control strategy based on discrete sliding mode control (DSMC) with zero phase error tracking control (ZPETC) for an electro-hydraulic actuator (EHA) system. A linear type actuation of the EHA system using a single-ended cylinder controlled by a servo valve was considered in the experimental design. In the system identification process, EHA system was modelled using parametric linear time varying equations with parameters that were identified using recursive and non-recursive identification techniques. An identification process that recursively computes the dynamic model was performed using recursive least square with varying forgetting factors and the estimated linear model was validated through statistical approaches. From the identification process, a non-minimum phase model of EHA system with a high sampling time was obtained. To formulate the control algorithm for the EHA system, a robust feedback control theory with feedforward structure was employed to overcome the non-minimum phase problem in EHA system. The algorithm was also subjected to model uncertainty and non-linear characteristics. As a result, a new robust controller with an integrated design scheme based on DSMC and ZPETC was developed using a reaching law technique where parameters of the controller had been analytically determined. Subsequently, the new adaptive control strategy was improved by enhancing DSMC and ZPETC that are adaptable with variations in the parameters of EHA system. In simulation and experimental studies, an optimal linear-quadraticregulator (LQR) and a proportional-integral-derivative (PID) were implemented in the position tracking control as comparisons with the proposed robust controller. A comprehensive performance evaluation with quantitative measures of the tracking performance is presented and the results show that the robust system performance was achieved with DSMC under different operating system conditions. The findings also demonstrated that the new adaptive DSMC with ZPETC structure has reduced the control effort and gave a better performance in terms of tracking accuracy as compared to the conventional DSMC, LQR and PID controllers.
format	Thesis
qualification_name	Doctor of Philosophy (PhD.)
qualification_level	Doctorate
author	Ghazali, Rozaimi
author_facet	Ghazali, Rozaimi
author_sort	Ghazali, Rozaimi
title	Adaptive discrete sliding mode control of an electro-hydraulic actuator system
title_short	Adaptive discrete sliding mode control of an electro-hydraulic actuator system
title_full	Adaptive discrete sliding mode control of an electro-hydraulic actuator system
title_fullStr	Adaptive discrete sliding mode control of an electro-hydraulic actuator system
title_full_unstemmed	Adaptive discrete sliding mode control of an electro-hydraulic actuator system
title_sort	adaptive discrete sliding mode control of an electro-hydraulic actuator system
granting_institution	Universiti Teknologi Malaysia, Faculty of Electrical Engineering
granting_department	Faculty of Electrical Engineering
publishDate	2013
url	http://eprints.utm.my/id/eprint/43965/5/RozaimiGhazaliPFKE2013.pdf
_version_	1747817124659724288

Adaptive discrete sliding mode control of an electro-hydraulic actuator system

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