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

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