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All Journal Journal of Robotics and Control (JRC) International Journal of Robotics and Control Systems
Hazriq Izzuan Jaafar
Universiti Teknikal Malaysia Melaka
Aerospace Engineering Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Mechanical Engineering

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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. 
Real-Time Underground Plastic Pipeline Water Leakage Detection and Monitoring System Muhammad Haziq Hakim Rosman; Rozaimi Ghazali; Gowdie Palmer Derai; Hazriq Izzuan Jaafar; Chong Chee Soon; Dirman Hanafi; Zulfatman Has
International Journal of Robotics and Control Systems Vol 2, No 2 (2022)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v2i2.582

Abstract

The leaking of the water pipeline increasingly influences the quality of life and threatens the water supplier in developing countries. Proper method is required to effectively detecting the source for replacement to reduce the loses. Therefore, a water leakage detection with monitoring system is developed to detecting the precise leaking location of a buried plastic pipeline. The real-time pressure data obtained from the pressurized pipeline are transferred to the monitoring system with GUI (graphical User Interface), developed using LabVIEW software. In the experimental execution, a leaking pipeline is designed. Then, few pressure sensors are installed on the pipeline as a primary segment for the detection process. To prevent a false non-leak alarm and malfunction of the pressure sensors, the pressure threshold value and malfunction alarm is set using LabVIEW. Cross-correlation method is implemented that increase the accuracy of the leaking distance estimation. The processing and control unit in this article are manipulated using LabVIEW software and NI myRIO-1900 respectively.
Co-Authors Chong Chee Soon Dirman Hanafi Gowdie Palmer Derai Muhamad Fadli Ghani Muhammad Haziq Hakim Rosman Rozaimi Ghazali Yahaya Md Sam Zulfatman Zulfatman