PSO-tuned pid sliding surface of sliding mode control for an electro-hydraulic actuator system

It is well known that the control engineering applications are widely implemented in the industrial fields through the assistance of the Electro-Hydraulic Actuator (EHA) system. The EHA system is commonly exposed to the parameter variations, disturbances, and uncertainties, which are caused by the c...

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Main Author:	Chong, Chee Soon
Format:	Thesis
Language:	English English
Published:	2017
Subjects:	T Technology (General) TJ Mechanical engineering and machinery
Online Access:	http://eprints.utem.edu.my/id/eprint/20558/1/PSO-Tuned%20Pid%20Sliding%20Surface%20Of%20Sliding%20Mode%20Control%20For%20An%20Electro-Hydraulic%20Actuator%20System.pdf http://eprints.utem.edu.my/id/eprint/20558/2/PSO-tuned%20pid%20sliding%20surface%20of%20sliding%20mode%20control%20for%20an%20electro-hydraulic%20actuator%20system.pdf
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id	my-utem-ep.20558
record_format	uketd_dc
institution	Universiti Teknikal Malaysia Melaka
collection	UTeM Repository
language	English English
advisor	Ghazali, Rozaimi
topic	T Technology (General) TJ Mechanical engineering and machinery
spellingShingle	T Technology (General) TJ Mechanical engineering and machinery Chong, Chee Soon PSO-tuned pid sliding surface of sliding mode control for an electro-hydraulic actuator system
description	It is well known that the control engineering applications are widely implemented in the industrial fields through the assistance of the Electro-Hydraulic Actuator (EHA) system. The EHA system is commonly exposed to the parameter variations, disturbances, and uncertainties, which are caused by the changes in the operating conditions including supply pressure, total moving mass, and friction. Thus, due to the changes and uncertain operating conditions, an optimization to the system’s controller is necessary in order to obtain a more robust system performance. This thesis presents the optimization on the Proportional-Integral-Derivative (PID) sliding surface of the Sliding Mode Control (SMC) scheme by using Particle Swarm Optimization (PSO) algorithm, applied to EHA system particularly for positioning tracking control. The EHA system is modelled according to the theories of the physical law, which taking into account the effect of nonlinearities, uncertainties, and disturbances occurred in the system. A robust control strategy is then formulated based on the control laws of the SMC, where the design of the sliding surface is integrated with the PID controller. The proposed control strategy is designed based on the EHA system that is subjected to the nonlinear characteristics and model uncertainties. Then, the PSO, which is based on the inspiration of the swarming behaviour has been utilized to seek for the optimum PID sliding surface parameters. The conventional tuning technique for the PID controller, which is known as Ziegler-Nichols (ZN) has been used to obtain the initial value of the PID sliding surface. Finally, the comparison has been made by applying the obtained parameters through the ZN and PSO tuning technique to the conventional PID controller and the PID sliding surface of the SMC. The findings indicate that the proposed robust SMC with PSOPID sliding surface is preserved to ensure the actuator robust and stable under the variation of the system operating condition, which produce 26% improvement in terms of robustness characteristic that gave a better positioning tracking performance and reduced the controller effort as compared to the conventional PID controller.
format	Thesis
qualification_name	Master of Philosophy (M.Phil.)
qualification_level	Master's degree
author	Chong, Chee Soon
author_facet	Chong, Chee Soon
author_sort	Chong, Chee Soon
title	PSO-tuned pid sliding surface of sliding mode control for an electro-hydraulic actuator system
title_short	PSO-tuned pid sliding surface of sliding mode control for an electro-hydraulic actuator system
title_full	PSO-tuned pid sliding surface of sliding mode control for an electro-hydraulic actuator system
title_fullStr	PSO-tuned pid sliding surface of sliding mode control for an electro-hydraulic actuator system
title_full_unstemmed	PSO-tuned pid sliding surface of sliding mode control for an electro-hydraulic actuator system
title_sort	pso-tuned pid sliding surface of sliding mode control for an electro-hydraulic actuator system
granting_institution	Universiti Teknikal Malaysia Melaka
granting_department	Faculty Of Electrical Engineering
publishDate	2017
url	http://eprints.utem.edu.my/id/eprint/20558/1/PSO-Tuned%20Pid%20Sliding%20Surface%20Of%20Sliding%20Mode%20Control%20For%20An%20Electro-Hydraulic%20Actuator%20System.pdf http://eprints.utem.edu.my/id/eprint/20558/2/PSO-tuned%20pid%20sliding%20surface%20of%20sliding%20mode%20control%20for%20an%20electro-hydraulic%20actuator%20system.pdf
_version_	1776103108918640640
spelling	my-utem-ep.205582022-12-29T16:40:47Z PSO-tuned pid sliding surface of sliding mode control for an electro-hydraulic actuator system 2017 Chong, Chee Soon T Technology (General) TJ Mechanical engineering and machinery It is well known that the control engineering applications are widely implemented in the industrial fields through the assistance of the Electro-Hydraulic Actuator (EHA) system. The EHA system is commonly exposed to the parameter variations, disturbances, and uncertainties, which are caused by the changes in the operating conditions including supply pressure, total moving mass, and friction. Thus, due to the changes and uncertain operating conditions, an optimization to the system’s controller is necessary in order to obtain a more robust system performance. This thesis presents the optimization on the Proportional-Integral-Derivative (PID) sliding surface of the Sliding Mode Control (SMC) scheme by using Particle Swarm Optimization (PSO) algorithm, applied to EHA system particularly for positioning tracking control. The EHA system is modelled according to the theories of the physical law, which taking into account the effect of nonlinearities, uncertainties, and disturbances occurred in the system. A robust control strategy is then formulated based on the control laws of the SMC, where the design of the sliding surface is integrated with the PID controller. The proposed control strategy is designed based on the EHA system that is subjected to the nonlinear characteristics and model uncertainties. Then, the PSO, which is based on the inspiration of the swarming behaviour has been utilized to seek for the optimum PID sliding surface parameters. The conventional tuning technique for the PID controller, which is known as Ziegler-Nichols (ZN) has been used to obtain the initial value of the PID sliding surface. Finally, the comparison has been made by applying the obtained parameters through the ZN and PSO tuning technique to the conventional PID controller and the PID sliding surface of the SMC. The findings indicate that the proposed robust SMC with PSOPID sliding surface is preserved to ensure the actuator robust and stable under the variation of the system operating condition, which produce 26% improvement in terms of robustness characteristic that gave a better positioning tracking performance and reduced the controller effort as compared to the conventional PID controller. 2017 Thesis http://eprints.utem.edu.my/id/eprint/20558/ http://eprints.utem.edu.my/id/eprint/20558/1/PSO-Tuned%20Pid%20Sliding%20Surface%20Of%20Sliding%20Mode%20Control%20For%20An%20Electro-Hydraulic%20Actuator%20System.pdf text en public http://eprints.utem.edu.my/id/eprint/20558/2/PSO-tuned%20pid%20sliding%20surface%20of%20sliding%20mode%20control%20for%20an%20electro-hydraulic%20actuator%20system.pdf text en validuser https://plh.utem.edu.my/cgi-bin/koha/opac-detail.pl?biblionumber=106350 mphil masters Universiti Teknikal Malaysia Melaka Faculty Of Electrical Engineering Ghazali, Rozaimi 1. 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