Performance Evaluation of Fractional Order Pid and Sliding Mode Control with Optimization Tuning Access
Chong Chee Soon1, Rozaimi Ghazali2, Shin Horng Chong3, Chai Mau Shern4, Yahaya Md. Sam5, Ahmad Anas Yusof6
1Chong Chee Soon, Centre for Robotics and Industrial Automation, University Teknikal Malaysia Melaka, Malaysia.
2Rozaimi Ghazali, Centre for Robotics and Industrial Automation, University Teknikal Malaysia Melaka, Malaysia.
3Shin Horng Chong, Centre for Robotics and Industrial Automation, University Teknikal Malaysia Melaka, Malaysia.
4Chai Mau Shern, Centre for Robotics and Industrial Automation, Universiti Teknikal Malaysia Melaka, Malaysia.
5Yahaya Md. Sam, Centre for Robotics and Industrial Automation, University Teknikal Malaysia Melaka, Malaysia.
6Ahmad Anas Yusof, Centre for Robotics and Industrial Automation, University Teknikal Malaysia Melaka, Malaysia.
Manuscript received on 21 August 2019 | Revised Manuscript received on 11 September 2019 | Manuscript Published on 17 September 2019 | PP: 1448-1454 | Volume-8 Issue-2S8 August 2019 | Retrieval Number: B10810882S819/2019©BEIESP | DOI: 10.35940/ijrte.B1081.0882S819
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© The Authors. Blue Eyes Intelligence Engineering and Sciences Publication (BEIESP). This is an open access article under the CC-BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/)
Abstract: The statistical analyses in the past showing the important properties of the electrohydraulic actuator (EHA) system, especially in the growth of the world economy. Dealing with the existing drawback in the EHA system, various types of control schemes have been introduced in the past. In this paper, to produce a more insightful view of the performance and the capabilities of the controller, three different types of controllers have been designed and compared. The favourite controller in the industry field, which is the proportional-integral-derivative (PID) controller will be first introduced. Follow by the improved PID controller, named Fractional Order (FO-PID) controller will be designed. Then, the prominent robust controller in the control field, called sliding mode controller (SMC) will be established. Instead of obtaining the controller’s parameters without any appropriate technique, the well-known tuning technique in computer science, named particle swarm optimization (PSO) will be utilized. Referring to the performances produced by these controllers, it can be concluded that the SMC is capable to generate most desired control performance that produced the highest accuracy with the smallest error in the analyses.
Keywords: Electro-Hydraulic, Fractional Order PID, Sliding Mode Control, Particle Swarm Optimization.
Scope of the Article: Discrete Optimization