Efficiency and Performance of Optimized Robust Controllers in Hydraulic System

Abstract

Common applications involved hydraulic system in real-time including heavy machinery, air-craft system, and transportation. Real-time applications, however, are notorious to suffered with nonlinearities due to unavoidable mechanical structures. Thus, control system engaged to manipulate and minimize the effect resulting from the nonlinearities. In this paper, few control approaches are executed in the Electro-Hydraulic Actuator (EHA) system. The control approaches including the generally used Proportional-Integral-Derivative (PID) controller, the reinforced Fractional-Order (FO) PID controller, the Sliding Mode Controller (SMC), and the enhanced hybrid SMC-PID controller. In order to obtain proper parameter of each controller, the Particle Swarm Optimization (PSO) technique is applied. The output data are then analysed based on the performance indices in terms of the consumption of the energy and the error produced. The performance indices including Root Mean Square Error/Voltage (RMSE/V), Integral Square Error/Voltage (ISE/V), Integral Time Square Error/Voltage (ITSE/V), Integral Absolute Error/Voltage (IAE/V), and Integral Time Absolute Error/Voltage (ITAE/V). It is observed in the results, based on the performance indices in terms of error and voltage, the hybrid SMC-PID capable of generating better outcomes with reference to tracking capabilities and energy usage.