PSO-Tuned Pid Sliding Surface Of Sliding Mode Control For An Electro-Hydraulic Actuator System

It is well known that the control engineering applications are widely implemented in the industrial fields through the assistance of the Electro-Hydraulic Actuator (EHA) system. The EHA system is commonly exposed to the parameter variations, disturbances, and uncertainties, which are caused by the changes in the operating conditions including supply pressure, total moving mass, and friction. Thus, due to the changes and uncertain operating conditions, an optimization to the system’s controller is necessary in order to obtain a more robust system performance. This thesis presents the optimization on the Proportional- Integral-Derivative (PID) sliding surface of the Sliding Mode Control (SMC) scheme by using Particle Swarm Optimization (PSO) algorithm, applied to EHA system particularly for positioning tracking control. The EHA system is modelled according to the theories of the physical law, which taking into account the effect of nonlinearities, uncertainties, and disturbances occurred in the system. A robust control strategy is then formulated based on the control laws of the SMC, where the design of the sliding surface is integrated with the PID controller. The proposed control strategy is designed based on the EHA system that is subjected to the nonlinear characteristics and model uncertainties. Then, the PSO, which is based on the inspiration of the swarming behaviour has been utilized to seek for the optimum PID sliding surface parameters. The conventional tuning technique for the PID controller, which is known as Ziegler-Nichols (ZN) has been used to obtain the initial value of the PID sliding surface. Finally, the comparison has been made by applying the obtained parameters through the ZN and PSO tuning technique to the conventional PID controller and the PID sliding surface of the SMC. The findings indicate that the proposed robust SMC with PSOPID sliding surface is preserved to ensure the actuator robust and stable under the variation of the system operating condition, which produce 26% improvement in terms of robustness characteristic that gave a better positioning tracking performance and reduced the controller effort as compared to the conventional PID controller

Lactate dehydrogenase in the guppy fish (Poecilia reticulata) as a biomarker of heavy-metal pollution in freshwater ecosystems

Heavy metal concentrations and allozyme variations were determined in females of guppy fish (Poecilia reticulata) populations collected from polluted and unpolluted sites. the concentrations of Cu and Fe were significantly (P0.05) in the Zn concentrations between the polluted and the unpolluted populations indicated that Zn, as a major essential metal, was regulated in this freshwater fish. seven enzyme systems EST, G6PDH, LDH, MDH, PGI, PGM, and SDH were tested. Only LDH (lactate dehydrogenase) was found to be agood biomarker for the contamination of Cu and Fe in P. reticulata. The zymogram of teh unpolluted wild population showed the same monomorphic allele as the unpolluted domesticated guppies from a pet shop,thus, further confirming LDH in P. reticulata as agood biomarker of contamination by Cu

Allozyme polymorphisms in horseshoe crabs, Carcinoscorpius rotundicauda, collected from polluted and unpolluted intertidal areas in Peninsular Malaysia.

It has been widely reported that allozyme frequency variation is a potential indicator of heavy metal-induced impacts in aquatic populations. In the present study, wild populations of horseshoe crab (Carcinoscorpius rotundicauda) were collected from contaminated and uncontaminated sites of Peninsular Malaysia. By adopting horizontal starch gel electrophoresis, seven enzyme systems were used to study allozyme polymorphisms. Nine polymorphic loci were observed in C. rotundicauda. The relationships of allozyme variations with the concentrations of Cd, Cu, Ni, and Zn in sediments and in muscle tissues of horseshoe crabs were determined. Based on genetic distance, the lower mean value of Nei's D (0.017) indicated that both of the contaminated populations of Kg. Pasir Puteh and Kuala Juru were very closely related when compared to the relatively uncontaminated Pantai Lido population. Higher heterozygosities were shown by the contaminated populations when compared to the uncontaminated population. Different allelic frequencies could be observed for the aldolase (ALD; E.C. 2.7.5.1) locus between the contaminated and uncontaminated populations of C. rotundicauda. The dendrogram of genetic relationships of the three populations of C. rotundicauda showed the same clustering pattern as the dendrograms are based on heavy metals in the sediments and in the horseshoe crabs' abdominal muscles. From the F statistics, the present study showed that the three populations of horseshoe crabs were considered to have undergone moderate genetic differentiation with a mean F (ST) value of 0.092 .The current results suggest that allozyme polymorphism in horseshoe crabs is a potential biomonitoring tool for metal contamination, although further validation is required

Assessment of Teaching Practice Competency Among in-Service Teacher Degree Program (PPG) in Universiti Tun Hussein Onn Malaysia

The best teacher preparation programs emphasise subject matter mastery and provide many opportunities for preservice teachers to spend time in real classrooms under the supervision of an experienced mentor. Thus, teaching practice plays utmost important component of teacher training in order to produce a high quality of future teacher due to the lacking of opportunity or comfort level to work on their pedagogy knowledge while managing their first class. But this condition is slightly different for in-service teacher with diploma and upgrade to degree through the in-service teacher degree programme (PPG) path. PPG is conducted in 4 years using distance learning mode. In-service teachers will attend the courses during weekend and only five times face-to-face meeting with the lecturers. PPG aims to improve the quality of teaching and school management by increasing the teachers’ level of educational qualifications. However, issues were highlighted where teaching competency or performance among in-service teachers are varied during teaching practice observation. Due to their part-time mode of learning, there are concerns whether their performance is at par with their full time peers. Therefore, this paper aims to discuss the assessment of teaching practice competency among the PPG students. This study was applied the Documentation analyses as the research design by using the Teaching Assessment Form of Faculty of Technical & Vocational Education, Universiti Tun Hussein Onn Malaysia. Descriptive statistic using mean and standard deviation were used to analyses the collected data. The result showed that the competency of in-service teachers in teaching practicum in descending order is Personality>Portfolio> Implementation of Teaching> Lesson Planning> Implementation off Innovation> Justification of Innovation>Reflection. Results also showed that in-service teachers are good in affective (M=4.33, SD=0.48), follow by psychomotor (M=4.12, SD=0.47) and cognitive (M=3.99, SD=0.56). In conclusion, in-service teachers need training for innovation in teaching and emphasise in cognitive taxonomy.&nbsp

Optimization Techniques In PID Controller On A Nonlinear Electro-Hydraulic Actuator System

The controller is an important component in the nonlinear control system, especially for the system that needs accuracy in position tracking. Electro-Hydraulic Actuator (EHA) system i s a popular nonlinear system that is used by researchers. Proportional- Integral-Derivative (PID) controller is the most popular controller that is normally used in the industry. This i s mainly because of i ts simplicity in the design process. However, there are three constants that need to be assigned in the PID controller, often we called thi s as the parameters s election process or the PID tuning process. In this paper, a comparison s tudy for the selection process of the PID parameters process will be conducted among Ziegler-Nichols tuning method, conventional Particle Swarm Optimization (PSO) technique and Priority-based Fitness Particle Swarm Optimization (PFPSO) technique. PFPSO is one of the improved versions of the conventional PSO technique. The s imulation study wi ll be conducted on a nonlinear Electro-Hydraulic Actuator (EHA) system. A simple robustness test on the PID controller will be evaluated in terms of actuator internal leakage. Results showed that the PID performed better whe n its controller's parameters are selected using PFPSO technique rather than the Ziegler-Nichols method and conventional PSO technique

Application of theory of planned behavior to predict recreational sports activities participation of students in Malaysia

This study aims to understand the factors that influence the participation of high school students in recreational sports activities using the “Theory of Planned Behavior” (TPB) (Ajzen, 1991). Questionnaires that were adapted from Cunningham and Kwon (2003) were used to measure the reasons for participation of recreational sports among high school students in Malaysia. The respondents consisted of 101 high school students from the age of 13 to16. Analyses of data include descriptive statistics, Pearson Product-Moment‘s correlation and standard multiple regression. The findings showed that there is a significant relationship between attitude factor and subjective norms with behavioral intention to participate in recreational sports activities. This study proposed intervention measures to increase the participation of high school students in recreational sports in Malaysia

Performance Analysis of Position Tracking Control With PID Controller Using An Improved Optimization Technique

An Electro-Hydraulic Actuator (EHA) system is usually utilized in production industry such as automotive industry which requires precision, high force and long operating hours. When dealing with the production of engineering parts that require precision, high force and long operating hours, a controller is usually required. It is observed from the literature, an appropriate tuning technique is essential in order to obtain optimal controller’s performance. Therefore, a computational tuning technique, namely Priority-based Fitness Particle Swarm Optimization (PFPSO) is proposed to obtain the parameters of the Proportional-Integral-Derivative (PID) controller in this paper. The performance of the EHA system will be evaluated and compared based on the priority characters of the PFPSO tuning technique, which included settling time and overshoot percentage that affect the output results of the EHA system. As a result, it is observed that the priority based on settling time produced a better result, which enhances the steady-state performance of the EHA system that fulfills the requirement of the precision contro

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 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.

Chattering Analysis of an Optimized Sliding Mode Controller for an Electro-Hydraulic Actuator System

Wear and tear are usually caused by various factors, which reduce the life span of a mechanical part. In the control engineering of an Electrohydraulic actuator system, the wear and tear can be caused by the system or the controller itself. This article examines the chattering effect that occurs during the sliding mode controller (SMC) design, and its effect on the nonlinear electrohydraulic actuator (EHA) system. To examine the chattering phenomenon, signum function is first applied on the switching function of the SMC. Then, parameters of the controller are obtained using single objective particle swarm optimization (PSO) method. These parameters are then applied to the switching function with hyperbolic tangent function. Lastly, the performance of both functions is analysed and compared based on graph and numerical data. From the output data, chattering phenomenon generated on the signum function is greatly eliminated by using hyperbolic tangent function

Disturbance Rejection Experimental In 3D INTECO Gantry Crane System Via PID-VSC Tuned By PFPSO

Gantry Crane System (GCS) is a mechanism in heavy engineering that moves payload from one point to another. Commonly, an experienced operator is required to control the trolley position manually while minimizing the payload oscillation. The transferring process should be done with careful and concentration to ensure the safety environment. Thus, in order to ensure the safety condition, a control strategy of Proportional-Integral-Derivative and Variable Structure Control (PID-VSC) is implemented in the 3D INTECO GCS. The Proportional-Integral-Derivative (PID) controller is used to control the trolley position while the Variable Structure Control (VSC) is used to control the payload oscillation. The parameters of the controllers are defined by Priority-based Fitness Particle Swarm Optimization (PFPSO). The performances are compared to the Proportional-Integral-Derivative and Proportional-Derivative (PID-PD) controller tuned by PFPSO in terms of the precision of trolley position with the minimization of payload oscillation. The robustness of the controller is verified by the injection of internal disturbance in gantry crane system. With the proposed controller, the experimental of 3D INTECO GCS shows that the system is capable of minimizing the payload oscillation while achieving satisfactory trolley position tracking