Design of sliding mode controller for robust tracking of pneumatic systems

Mohamad Saufe, Muhammad Aufa (2022) Design of sliding mode controller for robust tracking of pneumatic systems. Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)

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Abstract

The widespread use of pneumatic actuator systems in the automation industry today is due to their many advantages, which include cheap cost, environmental friendliness, high reliability, and a high ratio of power to weight. As a result of these benefits, pneumatic actuators are increasingly being considered as viable alternatives to hydraulic actuator systems and electric servo motors for automating processes. Because of the high nonlinearities of pneumatic actuators, it is difficult to achieve accurate tracking performance. Because of this, a controller is required to regulate the system and thereby solve the high nonlinearity problem. The mathematical model of the system must first be constructed before the controllers can be created by using MATLAB software. The system model is next validated by comparing it to experimental data, which is accomplished with the use of the System Identification technique. Following that, three controllers have been designed, such as PID controller, SMC controller, and Pseudo-SMC. These three controllers will be simulated and tested on the real plant, and controller’s performance will be measured in terms of maximum tracking error and RMSE with disturbance applied such as external load. The results show that SMC-based controllers can produce an average improvement of 87% in terms of maximum tracking errors and a reduction of 80% in terms of root mean square error (RMSE). Among the SMC-based controllers, pseudo-SMC controllers can reduce the chattering effect using a Fast Fourier Transform approach. However, the SMC controller can achieve a low percentage of load variation in terms of robustness. Overall, the Pseudo-SMC controller has superior robust tracking performance against the SMC controller and the PID controller.

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