Journal of Robotics and Control (JRC)
Vol 3, No 2 (2022): March

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

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)
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)

Article Info

Publish Date
05 Feb 2022

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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Journal Info
Journal of Robotics and Control (JRC)
Website

Abbrev

jrc

Publisher

Universitas Muhammadiyah Yogyakarta

Subject

Aerospace Engineering Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Mechanical Engineering

Description

Journal of Robotics and Control (JRC) is an international open-access journal published by Universitas Muhammadiyah Yogyakarta. The journal invites students, researchers, and engineers to contribute to the development of theoretical and practice-oriented theories of Robotics and Control. Its scope ...