Abstract
In position and trajectory tracking controls of hydraulic manipulators, it is difficult to obtain desired performance due to nonlinearity, for instance, variations of moments of inertia, unsymmetrical effects of single rod cylinders, dead zone of hydraulic control valves, time delay of hydraulic systems and mechanical resonance. Therefore, applications of robust control systems for the nonlinearity and disturbance are desired. Sliding mode control has strong robustness to parameter change and disturbance. Moreover a preview control can improve trajectory tracking performance. By feedback of estimated disturbance from a disturbance observer in an inner loop, the responses of the system are improved. Moreover sliding mode control with frequency shaping suppresses spillover of mechanical resonance. Therefore, we designed a discrete time frequency-shaped preview sliding mode controller with pre-filter, which combines the advantages of these control theories. In this paper, it is shown that our control method can improve trajectory tracking performance and robustness of hydraulic manipulators in experiments and simulations.
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