Improved Third Order PID Sliding Mode Controller for Electrohydraulic Actuator Tracking Control

An electrohydraulic actuator (EHA) system is a combination of hydraulic systems and electrical which can produce rapid response, high power-to-weight ratio, large stiffness. Nevertheless, the EHA has nonlinear behaviors modeling uncertainties such as frictions, internal external leakages, parametric uncertainties, lead to significant challenges in controller design for trajectory tracking. Therefore, this paper presents an intelligent adaptive sliding mode proportional integral derivative (SMCPID) controller, main contribution toward development effective control on third-order model double-acting tracking, significantly reduces chattering under noise disturbance. The (SMC) created by utilizing exponential rule Lyapunov theorem ensure closed-loop stability. SMC been decreased substituting modified sigmoid function signum function. Particle swarm optimization (PSO) was used lower total absolute errors adjust controller. In order demonstrate efficacy SMCPID results tracking disturbance rejection were compared those obtained using (PID), (PD), (SMCPD) controllers, respectively. conclusion, extensive research given have indicated that outperforms PD, PID, SMCPD controllers terms overall performance.