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

Authors

  • Chong Chee Soon Centre for Robotics and Industrial Automation (CeRIA), Faculty of Electrical Engineering, Universiti Teknikal Malaysia Melaka
  • Rozaimi Ghazali Centre for Robotics and Industrial Automation Faculty of Electrical Engineering Universiti Teknikal Malaysia Melaka 76100 Durian Tunggal Melaka https://orcid.org/0000-0001-6504-2242
  • Muhamad Fadli Ghani Centre for Robotics and Industrial Automation (CeRIA), Faculty of Electrical Engineering, Universiti Teknikal Malaysia Melaka
  • Chai Mau Shern Universiti Teknikal Malaysia Melaka
  • Yahaya Md. Sam Centre for Robotics and Industrial Automation (CeRIA), Faculty of Electrical Engineering, Universiti Teknologi Malaysia
  • Zulfatman Has University of Muhammadiyah Malang

DOI:

https://doi.org/10.18196/jrc.v3i2.13671

Keywords:

sliding mode control, electro-hydraulic actuator (EHA), chattering analysis

Abstract

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.

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Published

2022-02-05

Issue

Vol. 3 No. 2 (2022): March

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Articles

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