Abstract
This paper proposes a new designed trajectory tracking method for a hydraulic manipulator, which is the terminal sliding mode control with sliding perturbation observer (TSMCSPO). The dynamics of the hydraulic system are complex and uncertain, it also generates a large reaction force when working as an excavator or a dismantling robot. In this paper, the new control law is designed to force the trajectory of the hydraulic system to follow the reference despite complex dynamics, modeling error, the huge reaction force, and dynamic uncertainties. The sliding perturbation observer (SPO) in TSMCSPO estimates all disturbances from the outside environment, dynamic uncertainties, and modeling errors in real time. We included a simulation and an experiment to verify the approach, and to demonstrate the performance compared with other controllers (SMCSPO, SMC, and TSMC). Stabilities of SPO and TSMCSPO were analyzed based on the Lyapunov stability theory.
Highlights
Hydraulic actuators have more advantages than electric motors such as a large force output at high speed, high stiffness and durability, and rapid response [1,2]
The settling time and rising time, we found that the terminal mode made the convergence time faster, Comparing the settling time and rising time, we found that the terminal mode made the convergence which is certified in both TSMC and TSMCSPO
The main contribution of this research is the design of TSMCSPO and its implementation on a hydraulic system
Summary
Hydraulic actuators have more advantages than electric motors such as a large force output at high speed, high stiffness and durability, and rapid response [1,2]. SMCSPO (Sliding Mode Control with Sliding Perturbation Observer) is a combination of the controller SMC with SPO, which has an excellent performance in trajectory tracking. It only utilizes the partial state feedback to estimate the other states and perturbation including non-linear control terms. The main point is the new TSMCSPO controller, which uses the terminal sliding mode to improve the slow convergence time and reduce the effect of time delay that occurs in the SPO. The performance of this new controller TSMCSPO is demonstrated by MATLAB simulations compared with the conventional SMC, SMCSPO, and TSMC, as well as in real applications for the hydraulic servo system.
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