Fractional Order Integral Sliding Mode Tracking Control of a Third-Order Double-Acting Electrohydraulic Actuator Model

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ISSN: 2278-0149 (Online)
Abbreviated Title: Int. J. Mech. Eng. Robot. Res.
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DOI: 10.18178/ijmerr
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Home > Published Issues > 2022 > Volume 11, No. 9, September 2022 >

IJMERR 2022 Vol.11(9): 669-675
DOI: 10.18178/ijmerr.11.9.669-675

Muhammad Fadli Ghani 1, Rozaimi Ghazali 2, Hazriq Izzuan Jaafar 2, Chong Chee Soon 3, Yahaya Md. Sam 4, and Zulfatman Has 5

1. Malaysian Institute of Marine Engineering Technology (MIMET), Universiti Kuala Lumpur, Lumut, Perak, Malaysia
2. Centre for Robotics and Industrial Automation, Faculty of Electrical Engineering, Universiti Teknikal Malaysia Melaka, Hang Tuah Jaya, 76100, Durian Tunggal, Melaka, Malaysia
3. Department of Engineering and Built Environment, Tunku Abdul Rahman University College, Penang Branch Campus
4. Department of Control and Mechatronics Engineering, School of Electrical Engineering, Universiti Teknologi Malaysia, 81310 Skudai, Johor, Malaysia
5. Electrical Engineering Department, University of Muhammadiyah Malang, 65144 Malang, Indonesia

Abstract—This article presents a fractional order integral sliding mode control method for tracking control of sinusoidal, multi-sinusoidal, and chaotic trajectories in an Electro-Hydraulic Actuator (EHA) system. To acquire the proposed controller, the linear model of the EHA system is determined utilizing the parametric identification method, and the model's parameters are estimated utilizing the MATLAB System Identification toolbox. Incorporating a fractional order integral sliding surface into the conventional sliding mode control algorithm yields a fractional order integral sliding mode controller. Using Lyapunov's theory of stability, the closed-loop system with the proposed controller is evaluated for its stability. Through simulation, the control output of the tracking control system was acquired in order to assess the performance of the trajectory tracking control. The results demonstrate that the proposed controller outperforms the conventional sliding mode controller in trajectory tracking control.

Index Terms— fractional order integral sliding mode tracking control, electrohydraulic actuator, particle swarm optimization

Cite: Muhammad Fadli Ghani, Rozaimi Ghazali, Hazriq Izzuan Jaafar, Chong Chee Soon, Yahaya Md. Sam, and Zulfatman Has, "Fractional Order Integral Sliding Mode Tracking Control of a Third-Order Double-Acting Electrohydraulic Actuator Model," International Journal of Mechanical Engineering and Robotics Research, Vol. 11, No. 9, pp. 669-675, September 2022. DOI: 10.18178/ijmerr.11.9.669-675

Copyright © 2022 by the authors. This is an open access article distributed under the Creative Commons Attribution License (CC BY-NC-ND 4.0), which permits use, distribution and reproduction in any medium, provided that the article is properly cited, the use is non-commercial and no modifications or adaptations are made.