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All Journal International Journal of Electrical and Computer Engineering Jurnal Gamma Transmisi: Jurnal Ilmiah Teknik Elektro Bulletin of Electrical Engineering and Informatics Proceeding of the Electrical Engineering Computer Science and Informatics JOIN (Jurnal Online Informatika) Jurnal Abdimas BSI: Jurnal Pengabdian Kepada Masyarakat Kinetik: Game Technology, Information System, Computer Network, Computing, Electronics, and Control Indonesian Journal of Artificial Intelligence and Data Mining Seminar Nasional Teknologi Informasi Komunikasi dan Industri CYCLOTRON Multitek Indonesia : Jurnal Ilmiah Journal of Robotics and Control (JRC) Jurnal ABDINUS : Jurnal Pengabdian Nusantara Community Development Journal: Jurnal Pengabdian Masyarakat International Journal of Robotics and Control Systems JITEL (Jurnal Ilmiah Telekomunikasi, Elektronika, dan Listrik Tenaga) Jurnal Nasional Teknik Elektro dan Teknologi Informasi SinarFe7
Zulfatman Zulfatman
Universitas Muhammadiyah Malang
Aerospace Engineering Humanities Chemical Engineering, Chemistry & Bioengineering Chemistry Civil Engineering, Building, Construction & Architecture Computer Science & IT Control & Systems Engineering Economics, Econometrics & Finance Education Electrical & Electronics Engineering Energy Engineering Environmental Science Health Professions Industrial & Manufacturing Engineering Mathematics Mechanical Engineering Public Health

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Journal : Journal of Robotics and Control (JRC)

 1 
Chattering Analysis of an Optimized Sliding Mode Controller for an Electro-Hydraulic Actuator System Chong Chee Soon; Rozaimi Ghazali; Muhamad Fadli Ghani; Chai Mau Shern; Yahaya Md. Sam; Zulfatman Has
Journal of Robotics and Control (JRC) Vol 3, No 2 (2022): March
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v3i2.13671

Abstract

Wear and tear are usually caused by various factors, which reduce the life span of a mechanical part. In the control engineering of an Electrohydraulic actuator system, the wear and tear can be caused by the system or the controller itself. This article examines the chattering effect that occurs during the sliding mode controller (SMC) design, and its effect on the nonlinear electrohydraulic actuator (EHA) system. To examine the chattering phenomenon, signum function is first applied on the switching function of the SMC. Then, parameters of the controller are obtained using single objective particle swarm optimization (PSO) method. These parameters are then applied to the switching function with hyperbolic tangent function. Lastly, the performance of both functions is analysed and compared based on graph and numerical data. From the output data, chattering phenomenon generated on the signum function is greatly eliminated by using hyperbolic tangent function.
Improved Third Order PID Sliding Mode Controller for Electrohydraulic Actuator Tracking Control Muhamad Fadli Ghani; Rozaimi Ghazali; Hazriq Izzuan Jaafar; Chong Chee Soon; Yahaya Md Sam; Zulfatman Has
Journal of Robotics and Control (JRC) Vol 3, No 2 (2022): March
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v3i2.14236

Abstract

An electrohydraulic actuator (EHA) system is a combination of hydraulic systems and electrical systems which can produce a rapid response, high power-to-weight ratio, and large stiffness. Nevertheless, the EHA system has nonlinear behaviors and modeling uncertainties such as frictions, internal and external leakages, and parametric uncertainties, which lead to significant challenges in controller design for trajectory tracking. Therefore, this paper presents the design of an intelligent adaptive sliding mode proportional integral and derivative (SMCPID) controller, which is the main contribution toward the development of effective control on a third-order model of a double-acting EHA system for trajectory tracking, which significantly reduces chattering under noise disturbance. The sliding mode controller (SMC) is created by utilizing the exponential rule and the Lyapunov theorem to ensure closed-loop stability. The chattering in the SMC controller has been significantly decreased by substituting the modified sigmoid function for the signum function. Particle swarm optimization (PSO) was used to lower the total of absolute errors to adjust the controller. In order to demonstrate the efficacy of the SMCPID controller, the results for trajectory tracking and noise disturbance rejection were compared to those obtained using the proportional integral and derivative (PID), the proportional and derivative (PD), and the sliding mode proportional and derivative (SMCPD) controllers, respectively. In conclusion, the results of the extensive research given have indicated that the SMCPID controller outperforms the PD, PID, and SMCPD controllers in terms of overall performance. 
Co-Authors A. F. Z. Abidin Ahzen Habibidin Muslim Ailin Rohmatul Fajria Akhyar Anadiansyah Ali, Nur Husnina Mohamad Alvian Widianto Amrul Faruq Anadiansyah, Akhyar Annas Alif Putra Basolle, Azfar Waris Basri Nor Cahyadi Bella Retno Budhi Priyanto Chai Mau Shern Chong Chee Soon Chong Chee Soon Delliar Khafid Nur Fahmi Delliar Khafid Nur Fahmi Dezar Septiantono Diding Suhardi Dirman Hanafi Dwi Nur Fajar Een Hutama Putra Effendy, Machmud Ermanu Azizul Hakim Fachmy Faizal Faizal, Fachmy Fajria, Ailin Rohmatul Fauziyah, Lailatul Fua'ad Rahmat, Mohd Ghani, Muhammad Fadli Gowdie Palmer Derai Haris Rahmana Putra Hazriq Izzuan Jaafar Ilham Pakaya Jaafar, Hazriq Izzuan Jayanegara, M Mulyadi Khusnul Hidayat Komarudin Achmad Lailatul Fauziyah Lailis Syafa'ah Lailis Syafa’ah Leonardo Kamajaya M Mulyadi Jayanegara M. F. Rahmat M. Irfan Machmud Effendy Machmud Effendy Machmud Effendy Mardiyah, Nur Alif Mardiyah, Nur Alif Mardiyah, Nuralif Marhainis Othman, Siti Marzuki, Mohammad Mas Nurul Achmadiah Md Rozali, Sahazati Merinda Lestandy Merinda Lestandy Mohammad Marzuki Mohd Fua'ad Rahmat Muhamad Fadli Ghani Muhamad Fadli Ghani Muhammad Haziq Hakim Rosman Muhammad Ikhwanul Khair Muhammad Irfan Muhammad Nasar Muslim, Ahzen Habibidin Noor Cahyadi, Basri Norazizah Novendra Setyawan Nur Alif Mardiyah Nur Alif Mardiyah Nur Alif Mardiyah Nur Alif Mardiyah, Nur Alif Nuralif Mardiyah Nuralif Mardiyah Nuralif Nuralif Nurhadi Nurhadi Nurhadi, Nurhadi Nurhadi, Nurhadi Nurkasan Nurkasan, Nurkasan Pratama, Rido Octa Putra, Annas Alif Putra, Een Hutama Retno, Bella Rido Octa Pratama Rozaimi Ghazali Rozaimi Ghazali Rozaimi Ghazali S. M. Rozali Sahazati Md Rozali Septiantono, Dezar Siti Marhainis Othman Siti Marhainis Othman Soon, Chong Chee Syafa'ah, Lailis Syafaah, Lailis Tahir, Abdul Wafi WIDIANTO Yahaya Md Sam Yahaya Md. Sam Zsa Zsa Septina Atsil