Modeling and controller design of an industrial hydraulic actuator system in the presence of friction and internal leakage
This paper presents a robust controller scheme and its capabilities to control the position tracking performance of an electro-hydraulic actuator system. Sliding mode control with fixed and varying boundary layer is proposed in the scheme. It is aimed to compensate nonlinearities and uncertainties c...
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my.utm.450482022-01-26T02:20:11Z http://eprints.utm.my/id/eprint/45048/ Modeling and controller design of an industrial hydraulic actuator system in the presence of friction and internal leakage Rahmat, Mohd. Fuaad Zulfatman, Zulfatman Husain, A. R. Ishaque, K. Sam, Y. M. Ghazali, R. Md. Rozali, S. TJ Mechanical engineering and machinery This paper presents a robust controller scheme and its capabilities to control the position tracking performance of an electro-hydraulic actuator system. Sliding mode control with fixed and varying boundary layer is proposed in the scheme. It is aimed to compensate nonlinearities and uncertainties caused by the presence of friction and internal leakage. Its capabilities are verified through simulations in Matlab Simulink environment. The friction was represented by the LuGre model and the internal leakage was assumed to change. The results indicate that the scheme successfully improves the robustness and the tracking accuracy of the system. This improvement offers a significant contribution in the control of modern equipment positioning applications. Academic Journals 2011 Article PeerReviewed Rahmat, Mohd. Fuaad and Zulfatman, Zulfatman and Husain, A. R. and Ishaque, K. and Sam, Y. M. and Ghazali, R. and Md. Rozali, S. (2011) Modeling and controller design of an industrial hydraulic actuator system in the presence of friction and internal leakage. International Journal of Physical Sciences, 6 (14). pp. 3502-3517. ISSN 1992-1950 http://dx.doi.org/10.5897/IJPS11.546 DOI:10.5897/IJPS11.546 |
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TJ Mechanical engineering and machinery Rahmat, Mohd. Fuaad Zulfatman, Zulfatman Husain, A. R. Ishaque, K. Sam, Y. M. Ghazali, R. Md. Rozali, S. Modeling and controller design of an industrial hydraulic actuator system in the presence of friction and internal leakage |
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This paper presents a robust controller scheme and its capabilities to control the position tracking performance of an electro-hydraulic actuator system. Sliding mode control with fixed and varying boundary layer is proposed in the scheme. It is aimed to compensate nonlinearities and uncertainties caused by the presence of friction and internal leakage. Its capabilities are verified through simulations in Matlab Simulink environment. The friction was represented by the LuGre model and the internal leakage was assumed to change. The results indicate that the scheme successfully improves the robustness and the tracking accuracy of the system. This improvement offers a significant contribution in the control of modern equipment positioning applications. |
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Article |
author |
Rahmat, Mohd. Fuaad Zulfatman, Zulfatman Husain, A. R. Ishaque, K. Sam, Y. M. Ghazali, R. Md. Rozali, S. |
author_facet |
Rahmat, Mohd. Fuaad Zulfatman, Zulfatman Husain, A. R. Ishaque, K. Sam, Y. M. Ghazali, R. Md. Rozali, S. |
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Rahmat, Mohd. Fuaad |
title |
Modeling and controller design of an industrial hydraulic actuator system in the presence of friction and internal leakage |
title_short |
Modeling and controller design of an industrial hydraulic actuator system in the presence of friction and internal leakage |
title_full |
Modeling and controller design of an industrial hydraulic actuator system in the presence of friction and internal leakage |
title_fullStr |
Modeling and controller design of an industrial hydraulic actuator system in the presence of friction and internal leakage |
title_full_unstemmed |
Modeling and controller design of an industrial hydraulic actuator system in the presence of friction and internal leakage |
title_sort |
modeling and controller design of an industrial hydraulic actuator system in the presence of friction and internal leakage |
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Academic Journals |
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2011 |
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http://eprints.utm.my/id/eprint/45048/ http://dx.doi.org/10.5897/IJPS11.546 |
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1724073235526451200 |
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13.160551 |