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检索条件"主题词=Point-to-Point Trajectory Tracking Control"

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point-to-point trajectory tracking with Two-Degree-of-Freedom Robust control for a Non-minimum Phase Electro-hydraulic System

Point-to-Point Trajectory Tracking with Two-Degree-of-Freedo...

引用

10th World Congress on Intelligent control and Automation (WCICA)

作者： Ghazali, Rozaimi Sam, Yahaya Md Rahmat, Mohd Fua'ad Zulfatman Univ Tun Hussein Onn Malaysia Fac Elect & Elect Engn Dept Mech & Robot Engn Batu Pahat Johor Malaysia Univ Teknol Malaysia Fac Elect Engn Dept Control & Instrumentat Engn Skudai Johor Malaysia

ISBN: (纸本)9781467313988

Electro-hydraulic actuator (EHA) system inherently suffers from uncertainties, nonlinearities and timevarying in its model parameters which makes the modeling and controller designs are more complicated. The main objective of this paper is to perform a robust control design using discretetime sliding mode control (DSMC) with two-degree-of-freedom (2-DOF) control strategy. The proposed controller consists of feedback and feedforward combination which capable to reduce phase lag and steady state error during the trajectory tracking of EHA system. The feedforward controller is developed by implementing the zero phase error tracking control (ZPETC) technique which the main difficulty arises from the nonminimum phase system with no stable inverse. A point-to-point trajectory is used in the experimental works to evaluate the performance of the DSMC. Experimental results reveal that the DMSC with 2DOF control structure is highly robust and capable to deal with the uncertainties and disturbances occur during the position tracking control for different point of trajectories. It is also shows that the proposed controller can achieve better tracking performance as compared to conventional LQR and PID controller.

关键词： Electro-hydraulic Actuator System Discrete Sliding Mode control point-to-point trajectory tracking control Two-degree-of-freedom control Structure

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point-to-point trajectory tracking with Two-Degree-of-Freedom Robust control for a Non-minimum Phase Electro-hydraulic System

Point-to-Point Trajectory Tracking with Two-Degree-of-Freedo...

引用

World Congress on Intelligent control and Automation

作者： Rozaimi Ghazali Yahaya Md Sam Mohd Fua'ad Rahmat Zulfatman Department of Mechatronic and Robotic Engineering Faculty of Electrical and Electronic Engineering Universiti Tun Hussein Onn Malaysia Department of Control and Instrumentation Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia

ISBN: (纸本)9781467313971

Electro-hydraulic actuator (EHA) system inherently suffers from uncertainties, nonlinearities and time-varying in its model parameters which makes the modeling and controller designs are more complicated. The main objective of this paper is to perform a robust control design using discrete-time sliding mode control (DSMC) with two-degree-of-freedom (2-DOF) control strategy. The proposed controller consists of feedback and feedforward combination which capable to reduce phase lag and steady state error during the trajectory tracking of EHA system. The feedforward controller is developed by implementing the zero phase error tracking control (ZPETC) technique which the main difficulty arises from the nonminimum phase system with no stable inverse. A point-to-point trajectory is used in the experimental works to evaluate the performance of the DSMC. Experimental results reveal that the DMSC with 2-DOF control structure is highly robust and capable to deal with the uncertainties and disturbances occur during the position tracking control for different point of trajectories. It is also shows that the proposed controller can achieve better tracking performance as compared to conventional LQR and PID controller.

关键词： Electro-hydraulic Actuator System Discrete Sliding Mode control point-to-point trajectory tracking control Two-degree-of-freedom control Structure

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