Enhanced Hybrid Robust Fuzzy-PID Controller for Precise Trajectory Tracking Electro-Hydraulic Actuator System
(1) Nur Husnina Mohamad Ali Mail (Universiti Teknikal Malaysia Melaka, Malaysia)
(2) * Rozaimi Ghazali Mail (1) Fakulti Teknologi dan Kejuruteraan Elektrik (FTKE), Universiti Teknikal Malaysia Melaka, Hang Tuah Jaya, 76100, Durian Tunggal, Melaka, Malaysia. 2) Center for Robotics and Industrial Automation (CeRIA), Universiti Teknikal Malaysia Melaka, Hang Tuah Jaya, 76100, Durian Tunggal, Melaka, Malaysia)
(3) Abdul Wafi Tahir Mail (Universiti Teknikal Malaysia Melaka, Malaysia)
(4) Hazriq Izzuan Jaafar Mail (1) Fakulti Teknologi dan Kejuruteraan Elektrik (FTKE), Universiti Teknikal Malaysia Melaka, Hang Tuah Jaya, 76100, Durian Tunggal, Melaka, Malaysia. 2) Center for Robotics and Industrial Automation (CeRIA), Universiti Teknikal Malaysia Melaka, Hang Tuah Jaya, 76100, Durian Tunggal, Melaka, Malaysia)
(5) Muhammad Fadli Ghani Mail (Universiti Teknologi Malaysia, Malaysia)
(6) Chong Chee Soon Mail (Tunku Abdul Rahman University of Management and Technology, Malaysia)
(7) Zulfatman Has Mail (Universitas Muhammadiyah Malang, Indonesia)
*corresponding author

Abstract


The Electro-Hydraulic Actuator (EHA) system integrates electrical and hydraulic elements, enabling it to generate a rapid reaction, a high power-to-weight ratio, and significant stiffness. Nevertheless, EHA systems demonstrate non-linear characteristics and modeling uncertainties, such as friction and parametric uncertainty. Designing a controller for accurate trajectory tracking is greatly challenging due to these limitations. This paper introduces a hybrid robust fuzzy proportional-integral-derivative (HFPID) and (HF+PID) controller. The controller is designed to effectively control a third-order model of an EHA system for trajectory tracking. It is a significant contribution to the development of an intelligent robust controller that can perform well in different environments. Initially, a mathematical model for the EHA system was created using a first-principle approach. Subsequently, the Ziegler-Nichols method was employed to fine-tune the PID controller, while a conventional Fuzzy Logic Controller (FLC) was constructed in MATLAB Simulink utilizing linguistic variables and rule-based control. Without further tuning, the FL and PID controller are combined as a hybrid controller with different structures: Hybrid Fuzzy-PID (HFPID) and Hybrid Fuzzy+PID (HF+PID) controller. The Mean Square Error (MSE) and Root Mean Square Error (RMSE) are utilized as indices to assess the tracking accuracy and robustness of the four controllers. A greater value of MSE and RMSE indicates poorer performance of the controller. The results demonstrate that the HF+PID controller surpasses the other controllers by reaching the lowest MSE and RMSE values. It showcases the efficacy and accuracy in monitoring sinusoidal, multi-sinusoidal, and point-to-point trajectory tracking.  Future work should focus on implementing the designed controller on hardware for real-time performance and experimenting with various types of FLC or Hybrid controllers, such as self-tuning fuzzy-PID, to further explore their potential.

Keywords


Electro-Hydraulic Actuator; Proportional-Integral-Derivative; Fuzzy Logic; Hybrid Fuzzy; Mean Square Error; Root Mean Square Error; Robust

   

DOI

https://doi.org/10.31763/ijrcs.v4i2.1407 		      

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