Abstract
The position tracking control problem of a hydraulic manipulator system is investigated. By utilizing homogeneity theory, a finite-time output feedback controller is designed. Firstly, a finite-time state feedback controller is developed based on homogeneity theory. Secondly, a nonlinear state observer is designed to estimate the manipulator’s velocity. A rigorous analysis process is presented to demonstrate the observer’s finite-time stability. Finally, the corresponding output feedback tracking controller is derived, which stabilizes the tracking error system in finite time. Simulations demonstrate the effectiveness of the designed finite-time output feedback controller.
Highlights
In the past years, robotic system related control problem has been investigated more and more widely for robots application value [1, 2]
Hydraulic manipulators control problem is more challenging than their electrical counterparts, due to the nonlinear dynamics and the nonlinear mechanical linkage dynamics
Based on Theorems 6 and 7, for the position tracking control problem, the finite-time output feedback controller is designed as φ2 (ê, u) u = −φ1 (ê) − k1sigα1 (ê1) − k2sigα2 (ê2) (20)
Summary
Robotic system related control problem has been investigated more and more widely for robots application value [1, 2]. For the Stewart-type hydraulic manipulator [16], a pressure feedback controller was presented, which allow very high proportional position error gains These results have not paid much attention to stability analysis. With sliding mode control method, a robust control algorithm was presented in [4] to realize accurate position tracking for hydraulic manipulators. It is necessary to design more efficient controllers to offer faster convergence rates To this end, finite-time control is a good choice. It is impractical to obtain the velocity information by differentiating the measured position, because derivation operation usually results in very noisy velocity data To this end, an effective way is estimating the manipulator angular velocity via velocity observers.
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