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Chaotic trajectory tracking of an electro-hydraulic actuator system using discrete sliding mode control

Chaotic trajectory tracking of an electro-hydraulic actuator...

引用

2011 IEEE International Conference on Control System, Computing and engineering, ICCSCE 2011

作者： Ghazali, R. Ngadengon, R. Sam, Y.M. Rahmat, M.F. Hamzah, N. Zulfatman Department of Mechatronic and Robotic Engineering Faculty of Electrical and Electronic Engineering Universiti Tun Hussein Onn Malaysia 86400 Batu Pahat Johor Malaysia Department of Control and Instrumentation Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia 81310 Skudai Johor Malaysia Faculty of Electrical Engineering Universiti Teknologi MARA Malaysia 13500 Permatang Pauh P. Pinang Malaysia

ISBN: (纸本)9781457716423

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 perfect tracking control strategy. The proposed controller consists of feedback and feedforward combination which capable to reduce phase lag during the trajectory tracking of EHA system. Chaotic trajectory tracking is performed in the experimental works to show the robustness of DSMC controller and performance comparison is made with Linear-Quadratic-Regulator (LQR) and Proportional-Integral-Derivative (PID) controllers. The findings show that the proposed controller outperforms the LQR and PID controllers in terms of tracking accuracy. © 2011 IEEE.

关键词： Controllers

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Heat exchanger's shell and tube modeling for intelligent control design

Heat exchanger's shell and tube modeling for intelligent con...

引用

International Conference on Communication Software and Networks, ICCSN

作者： Dirman Hanafi Mohd Nor Mohd Than Abdulrahman A. A. Emhemed Tatang Mulyana Amran Mohd Zaid Ayob Hj. Johari Department of Mechatronic and Robotic Engineeering Faculty of Electrical and Electronic Engineering Universiti Tun Hussein Onn Malaysia Parit Raja Johor Malaysia

The shell and tube of heat exchanger is a medium where heat transfer process occurred. The accuracy of the heat exchanger depends on the performance of both elements. Therefore, both components need to be controlled in order to achieve a substantial result in the process. For this purpose, the actual dynamics of both shell and tube of the heat exchanger is crucial. This paper discusses two methods used in deriving the mathematical modeling of the system. First, physical dynamic modeling is obtained using physics and dynamics laws where actual parameters of the shell and tube are considered. Secondly, the model is determined by applying non-parametric system identification based on experimental response on the heat exchanger. Two models are used to design the shell and tube intelligent control. The intelligent control type is a Fuzzy Proportional Derivative (FPD) control. The experiment results shows that the shell and tube heat exchanger model develop using its physical parameters and controlled with FPD controller give better response, it means it can used as a model and controller of the shell and tube heat exchanger.

关键词： Heating Mathematical model Equations Suspensions

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Controller design for inverted pendulum system using discrete sliding mode control

Controller design for inverted pendulum system using discret...

引用

International Conference on Instrumentation Control and Automation (ICA)

作者： R. Ngadengon Y. M. Sam J. H. S. Osman R. Ghazali Department of Mechatronic and Robotic Engineering Faculty of Electrical and Electronic Engineering Universiti Tun Hussein Onn Malaysia Batu Pahat Johor Malaysia Department of Control and Instrumentation Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia Skudai Johor Malaysia

This paper presents discrete sliding mode control (DSMC) for nonlinear model of an inverted pendulum system. The reaching law method is used during the DSMC design. The uncertainties are structured in that system by considering the existence of an error during the pendulum angle measurement. The designed controller is compared with Linear Quadratic Regulator (LQR) controller to observe the capability for controlling the highly nonlinear system of the inverted pendulum. The performance and reliability of the proposed algorithm are determined by performing extensive simulation works using MATLAB/Simulink platform. The result shows that DSMC can produce better response as compared to LQR control strategy.

关键词： MATLAB

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Point-to-point trajectory tracking with discrete sliding mode control of an electro-hydraulic actuator system

Point-to-point trajectory tracking with discrete sliding mod...

引用

Student Conference on Research and Development (SCOReD)

作者： R. Ghazali Y. M. Sam M. F. Rahmat D. Hanafi R. Ngadengon Zulfatman Department of Control and Instrumentation Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia Skudai Johor Malaysia Department of Mechatronic and Robotic Engineering Faculty of Electrical and Electronic Engineering Universiti Tun Hussein Onn Malaysia Batu Pahat Johor Malaysia

This paper presents the position tracking performance of an electro-hydraulic hydraulic actuator (EHA) system by using a discrete sliding mode control (DSMC). A point-to-point trajectory is used in the experimental works to evaluate the performance of the DSMC which is design in two-degree-of-freedom (2-DOF) control structure. The design consists of DSMC and a feed forward controller. The control law is derived from the reaching law concept and its parameters are determined methodically based on the identified model. 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： Mathematical model Trajectory Valves Uncertainty Hydraulic actuators

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Comparison of two static calibration methods of an inertial measurement unit

Comparison of two static calibration methods of an inertial ...

引用

IASTED International Conference on Biomedical engineering, Biomed 2011

作者： Tee, Kian Sek Awad, Mohammed Dehghani, Abbas Moser, David Zahedi, Saeed School of Mechanical Engineering University of Leeds LS2 9JT Leeds United Kingdom Chas A Blatchford and Sons Ltd. Lister Road Basingstoke Hants RG22 4AH United Kingdom Department of Robotic and Mechatronic Faculty of Electrical and Electronic Engineering Universiti Tun Hussein Onn Malaysia 86400 Parit Raja Batu Pahat Johor Malaysia

ISBN: (纸本)9780889868663

Micro-electro-mechanical systems (MEMS) type inertial measurement unit (IMU) is increasingly used in gait measurement applications. Practically, there is an urgent need for fast deployment of the device in field. Static calibration is needed to acquire zero-bias (ZB) and sensitivity (S) of all axis in an IMU. These parameters are essential in mathematically transforming electrical signals to kinematic outputs. Conventional static calibration method using a rotary table is time-consuming and costly. A faster static calibration method is studied and compared. This paper investigates two static calibration methods in terms of accuracy and required time.

关键词： Calibration

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Chaotic trajectory tracking of an electro-hydraulic actuator system using discrete sliding mode control

Chaotic trajectory tracking of an electro-hydraulic actuator...

引用

IEEE International Conference on Control System, Computing and engineering (ICCSCE)

作者： R. Ghazali R. Ngadengon Y. M. Sam M. F. Rahmat Zulfatman N. Hamzah Department of Mechatronic and Robotic Engineering Faculty of Electrical and Electronic Engineering Universiti Tun Hussein Onn Malaysia Batu Pahat Johor Malaysia Department of Control and Instrumentation Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia Skudai Johor Malaysia Faculty of Electrical Engineering Universiti Teknologi MARA Permatang Pauh Penang Malaysia

关键词： Trajectory Mathematical model Actuators Valves Uncertainty Feedforward neural networks

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Identification of co current plate heat exchanger model HE158C

Identification of co current plate heat exchanger model HE15...

引用

Student Conference on Research and Development (SCOReD)

作者： Tatang Mulyana Mohd Nor Mohd Than Department of Mechatronic & Robotic Engineering Universiti Tun Hussein Onn Malaysia Batu Pahat Malaysia

This paper presents to identifies of co current plate heat exchanger model HE158C using Microsoft Excel Software (MES) and Laplace Transform to obtain its transfer function in s-domain. The simulation is then done by using MATLAB M-file in order to see its step output response. The process modelling in this method are draw graph of data input and output, get the mathematical equation from graph, obtain the transfer function and then simulate with MATLAB. This method gave 4th order of the transfer function. From the simulation, it shows that an exponential infinite pattern of step output response. This is because of the co current plate heat exchanger is nonlinear. The advantage of this paper is prepared data simulation if a system identification method such as linear model structures (ARX, ARMAX, Output Error, and General Polynomial models), nonlinear model structures (NLARX and NLOE models), and nonlinear model structures based on neural networks (NNARX and NNARMAX models) will use in identification of the co current plate heat exchanger model HE158C.

关键词： Mathematical model Equations Computer languages Heating Tin Optical character recognition software

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PID Controller Design for Semi-active Car Suspension Based on Model from Intelligent System Identification

PID Controller Design for Semi-active Car Suspension Based o...

引用

International Conference on Computer engineering and Applications (ICCEA)

作者： Dirman Hanafi Department of Mechatronic and Robotic Engineering Universiti Tun Hussein Onn Malaysia Batu Pahat Johor Malaysia

ISBN: (纸本)9781424460793;9780769539829

This paper presents a new method to design a semi-active suspension system. A semi-active suspension is developed by installing a variable shock absorber parallel with the passive suspension system and controlled using PID controller. A high fidelity mathematical model for capturing the realistic dynamic of car passive suspension system for the basic element of the semi-active suspension system is determined using the intelligent system identification. The car passive suspension system is assumed to have NARX model. The result shows that the response of the semi-active suspension system can follow the input signal, it means the PID controller is successfully control the variable shock absorber in order eliminate the road surface disturbances effect to the car body.

关键词： Three-term control Intelligent systems System identification Shock absorbers Control systems Roads Mathematical model Vehicles Design engineering Intelligent robots

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The quarter car fuzzy controller design based on model from intelligent system identification

The quarter car fuzzy controller design based on model from ...

引用

2009 IEEE Symposium on Industrial Electronics and Applications, ISIEA 2009

作者： Hanafi, Dirman Department of Mechatronic and Robotic Engineeering Faculty of Electrical and Electronic Engineering Universiti Tun Hussein Onn Malaysia 86400 Parit Raja Batu Pahat Johor Malaysia

ISBN: (纸本)9781424446827

In this paper, the design of the quarter car fuzzy logic control (FLC) for passive suspension model has been done. The quarter car model is identified using intelligent system identification and assumed has NARX model. The car input output data are collected in experiment by driving car on special road event. The result shows that the fuzzy logic controller is suitable for eliminating road surface disturbances to the suspension system. © 2009 IEEE.

关键词： Intelligent systems

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Intelligent system identification for an axis of car passive suspension system using real data

Intelligent system identification for an axis of car passive...

引用

2009 6th International Symposium on mechatronics and its Applications, ISMA 2009

作者： Hanafi, Dirman Mohd. Rahmat, Fua'ad Bin Ahmad, Zainal Abidin Bin Zaid, Amran Bin Mohd Department of Mechatronic and Robotic Engineeering Faculty of Electrical and Electronic Engineering Universiti Tun Hussein Onn Malaysia 86400 Parit Raja Batu Pahat Johor Malaysia Instrumentation and Control Engineering Department Faculty of Electrical Engineering Universiti Teknologi Malaysia 81310 Skudai Johor Darul Ta'zim Nigeria

ISBN: (纸本)9781424434817

This paper presents an intelligent system identification using multilayer perceptron neural network algorithm for an axis car passive suspension model. Nonlinear AutoRegressive with exogenous input (NARX) model were assumed for the system in order to determine the multilayer perceptron neural network structure. The intelligent system identifcation contructed for NARX model used real input output data acquired by driving a car on a special road event. The results show that the method proposed is suitable for modeling a quarter car passive suspension systems. © 2009 IEEE.

关键词： Intelligent systems

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