Robustness Analysis of an Optimized Controller via Particle Swarm Algorithm
This paper deals with an evaluation on the effectiveness of the robust controller in terms of its robustness towards the changes in the electro-hydraulic actuator (EHA) system parameters. It is well known that the defects exposed in this system are the existence of disturbances, parameters
variation, and uncertainties in nature that yielding great difficulties in the development of system controller and the modelling of EHA system. Such difficulties simultaneously vitiating system performance and imposed if inappropriate control strategy is employed. A nonlinear EHA system model
is established and the proposed controller which is sliding mode controller (SMC) is implemented in the simulation studies. The proposed control strategy has been compared with the conventional proportional-integral-derivative (PID) controller concerning its robustness characteristic with
the variation in the system supply pressure in which the controller variables are obtained through particle swarm optimization (PSO) algorithm. The finding shows that the SMC that utilized the PSO algorithm parameters are capable to produce smaller robustness index values, which demonstrated
better robustness characteristic in confront with the variation of the system parameter.
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Electro-Hydraulic Actuator System;
Particle Swarm Optimization;
Sliding Mode Control
Document Type: Research Article
Faculty of Electrical Engineering, Universiti Teknikal Malaysia Melaka, Hang Tuah Jaya, 76100 Durian Tunggal, Melaka, Malaysia
Faculty of Engineering Technology, Universiti Teknikal Malaysia Melaka, Hang Tuah Jaya, 76100 Durian Tunggal, Melaka, Malaysia
Publication date: November 1, 2017
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