Real-Time Trajectory Tracking Control of an Electro-Hydraulic System Using a Fuzzy Logic Sliding Mode Controller

Abstract

This paper presents the trajectory tracking control of an electro-hydraulic actuator (EHA) system using a fuzzy logic sliding mode control approach. To establish the proposed controller, a linear model of the EHA system is determined using the parametric Grey-box identification technique, and the model's parameters are estimated using the MATLAB System Identification Toolbox. Then, a fuzzy logic sliding mode controller is proposed by substituting the signum function with the fuzzy logic function in the conventional sliding mode control algorithm, and the MATLAB Fuzzy Logic toolbox was utilized to design the continuous fuzzy logic function. The stability of the closed-loop system with the proposed controller is assessed using Lyapunov's theory of stability. The control output for the tracking control system was acquired through simulation and real-time implementation in order to evaluate the trajectory tracking control performance. The real-time implementation for Sinusoidal trajectory tracking was conducted on an EHA workbench equipped with a PCIe-6321 card. For trajectory tracking control, experimental results indicate that the proposed controller is more effective than the conventional sliding mode controller.