DefinePK

Abstract

Commonly, outcome of the end product in industry depends on the trajectory tracking performance of the machine. Concerning positioning or trajectory tracking, the endorsement of the control system to compensate the common drawback in most physical system is required. Thus, in this paper, three different control approaches are proposed and implemented in the Electro-Hydraulic Actuator (EHA) system. As a benchmark of the control system, the Proportional-Integral-Derivative (PID) controller is initially designed. Followed by the designs of an enhanced version of the PID controller, known as Fractional-Order (FO-PID) controller. Lastly, the designs of the robust Sliding Mode Controller (SMC) is carried out. Subsequently, the performance evaluation, particularly in trajectory tracking and controller effort are performed. To comprehensively analyse the output response, the data are extracted by using the popular performance indices including Root Mean Square Error (RMSE), Integral Square Error (ISE), Integral Time Square Error (ITSE), Integral Absolute Error (IAE), Integral Time Absolute Error (ITAE). In the past study, most of these indices are applied to analyse the error generated from the system. In this paper, all the performance indices are performed not only to the system error but including the energy consumption of each controller. It is observed in the results, based on the performance indices in terms of error and voltage, the SMC capable of generating better outcomes with reference to tracking capabilities and energy usage.