Optimal PID sliding surface for sliding mode control based on particle swarm optimization algorithm for an electro-hydraulic actuator system

This paper presents the assessment on the sliding mode control (SMC) integrated with proportional-integral-derivative (PID) sliding surface which is optimized through particle swarm optimization (PSO) algorithm. The control scheme is established from the derived dynamic equation which stability is proven through Lyapunov theorem. In the evaluation of PID sliding surface, conventional Ziegler-Nichols (ZN) tuning method has been utilized to obtain the controller parameters and compared with the optimized controller parameters through PSO algorithm which is employed to the electro-hydraulic actuator (EHA) system to evaluate its positioning tracking performances. From the obtained simulation results, it can be concluded that the PSO tuning algorithm outperform the conventional ZN tuning method.