Chattering Analysis of an Optimized Sliding Mode Controller for an Electro-Hydraulic Actuator System

Wear and tear are usually caused by various factors, which reduce the life span of a mechanical part. In the control engineering of an Electrohydraulic actuator system, the wear and tear can be caused by the system or the controller itself. This article examines the chattering effect that occurs during the sliding mode controller (SMC) design, and its effect on the nonlinear electrohydraulic actuator (EHA) system. To examine the chattering phenomenon, signum function is first applied on the switching function of the SMC. Then, parameters of the controller are obtained using single objective particle swarm optimization (PSO) method. These parameters are then applied to the switching function with hyperbolic tangent function. Lastly, the performance of both functions is analysed and compared based on graph and numerical data. From the output data, chattering phenomenon generated on the signum function is greatly eliminated by using hyperbolic tangent function.

[1]  Abdullah Çakan,et al.  Simulation and Arduino Hardware Implementation of DC Motor Control Using Sliding Mode Controller , 2021, Journal of Robotics and Control (JRC).

[2]  Junwei Han,et al.  Sliding-mode control of ship-mounted Stewart platforms for wave compensation using velocity feedforward , 2021 .

[3]  Hugo Siqueira,et al.  Swarm-Inspired Algorithms to Optimize a Nonlinear Gaussian Adaptive PID Controller , 2021, Energies.

[4]  Vahab Nekoukar,et al.  Robust path tracking of a quadrotor using adaptive fuzzy terminal sliding mode control , 2021 .

[5]  Junzheng Wang,et al.  Fuzzy-Torque Approximation-Enhanced Sliding Mode Control for Lateral Stability of Mobile Robot , 2021, IEEE Transactions on Systems, Man, and Cybernetics: Systems.

[6]  Dongzhi Zhang,et al.  Diversiform sensors and sensing systems driven by triboelectric and piezoelectric nanogenerators , 2021 .

[7]  Subir Das,et al.  Finite-time synchronization of multi-scroll chaotic systems with sigmoid non-linearity and uncertain terms , 2020 .

[8]  Wei Meng,et al.  Coupled fractional-order sliding mode control and obstacle avoidance of a four-wheeled steerable mobile robot. , 2020, ISA transactions.

[9]  Ali Ahaitouf,et al.  Robust autonomous flight for quadrotor UAV based on adaptive nonsingular fast terminal sliding mode control , 2020 .

[10]  Zhiyong Wang,et al.  Nonlinear differential and integral sliding mode control for wave compensation system of ship-borne manipulator , 2020 .

[11]  H. Maghfiroh,et al.  Hybrid fuzzy-PID like optimal control to reduce energy consumption , 2020 .

[12]  Saleh Ahmad,et al.  The design and implementation of a fuzzy gain-scheduled PID controller for the Festo MPS PA compact workstation liquid level control , 2020 .

[13]  Jun Huang,et al.  A Deep Model for Multi-Focus Image Fusion Based on Gradients and Connected Regions , 2020, IEEE Access.

[14]  Rozaimi Ghazali,et al.  Comparison of Fractional Order PID Controller and Sliding Mode Controller with Computational Tuning Algorithm , 2019, Universal Journal of Electrical and Electronic Engineering.

[15]  Manoranjan Maiti,et al.  A solid transportation problem in uncertain environment involving type-2 fuzzy variable , 2019, Neural Computing and Applications.

[16]  Muhammad Ahsan Ullah,et al.  Optimal PID tuning for controlling the temperature of electric furnace by genetic algorithm , 2019, SN Applied Sciences.

[17]  Peter Xiaoping Liu,et al.  An Approach to the Dynamics and Control of Uncertain Robot Manipulators , 2019, Algorithms.

[18]  Chen Chen,et al.  Fuzzy H∞ robust control for magnetic levitation system of maglev vehicles based on T-S fuzzy model: Design and experiments , 2019, J. Intell. Fuzzy Syst..

[19]  Susy Thomas,et al.  Improved reaching law-based sliding mode controller for free flight autopilot system , 2018, Int. J. Autom. Control..

[20]  Chenguang Yang,et al.  Integral Sliding Mode Control: Performance, Modification, and Improvement , 2018, IEEE Transactions on Industrial Informatics.

[21]  Seul Jung,et al.  Improvement of Tracking Control of a Sliding Mode Controller for Robot Manipulators by a Neural Network , 2018 .

[22]  Y. M. Sam,et al.  An Electro-Hydraulic Servo with Intelligent Control Strategy , 2018 .

[23]  Tieshan Li,et al.  Finite-Time Formation Control of Under-Actuated Ships Using Nonlinear Sliding Mode Control , 2018, IEEE Transactions on Cybernetics.

[24]  Hazriq Izzuan Jaafar,et al.  Robustness Analysis Of An Optimized Controller Via Particle Swarm Algorithm , 2017 .

[25]  Muhammad Ejaz,et al.  Sliding mode control design of a ship steering autopilot with input saturation , 2017 .

[26]  Hazriq Izzuan Jaafar,et al.  Optimization of Sliding Mode Control using Particle Swarm Algorithm for an Electro-hydraulic Actuator System , 2016 .

[27]  M. F. Rahmat,et al.  Discrete sliding mode control for a non-minimum phase electro-hydraulic actuator system , 2015, 2015 10th Asian Control Conference (ASCC).

[28]  Ilyas Eker,et al.  Second-order sliding mode control with experimental application. , 2010, ISA transactions.

[29]  Mete Kalyoncu,et al.  Mathematical modelling and fuzzy logic based position control of an electrohydraulic servosystem with internal leakage , 2009 .

[30]  Shu-Chuan Chu,et al.  Optimal Design and Simulation for PID Controller Using Fractional-Order Fish Migration Optimization Algorithm , 2021, IEEE Access.

[31]  Xinli Zhou,et al.  Trajectory Tracking Control for Electro-Optical Tracking System Using ESO Based Fractional- Order Sliding Mode Control , 2021, IEEE Access.

[32]  Y. V. Pavan Kumar,et al.  Design of Robust PID Controller for Improving Voltage Response of a Cuk Converter , 2020 .

[33]  Yahaya Md Sam,et al.  Efficiency and Performance of Optimized Robust Controllers in Hydraulic System , 2020 .

[34]  Mehmet Zeki Bilgin,et al.  Output Feedback Control Surface Positioning With a High-Order Sliding Mode Controller/Estimator: An Experimental Study on a Hydraulic Flight Actuation System , 2019 .

[35]  Chong Shin Horng,et al.  Controllers Capabilities with Computational Tuning Algorithm in Nonlinear Electro-Hydraulic Actuator System , 2018 .