Finite-time position tracking control of rigid hydraulic manipulators based on high-order terminal sliding mode

被引：29

作者：

Wang, X. ^{[1
]}

Sun, X. ^{[1
]}

Li, S. ^{[1
]}

Ye, H. ^{[1
]}

机构：

[1] Southeast Univ, Sch Automat, Nanjing 210096, Jiangsu, Peoples R China

来源：

PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING | 2012年 / 226卷 / I3期

基金：

中国国家自然科学基金;

关键词：

hydraulic manipulators; position tracking control; high-order terminal sliding mode (TSM) control; finite-time control; ELECTROHYDRAULIC ACTUATOR; ROBUST-CONTROL; STABILIZATION; STABILITY;

D O I：

10.1177/0959651811417047

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Hydraulic manipulators have highly non-linear dynamics. In this paper, the position tracking control of hydraulic manipulators is investigated. The model considers manipulator dynamics, hydraulic actuator dynamics, and the friction effect of the actuators. A control scheme using a high-order terminal sliding mode (TSM) control method is proposed. Two explicit TSM control laws are derived for position tracking control. Both control laws globally finite-time stabilize the tracking error system. Compared with the conventional control methods, the proposed high-order TSM control scheme can provide a faster convergence and a higher tracking accuracy. Numerical simulation results demonstrate the effectiveness of the proposed scheme.

引用

页码：394 / 415

页数：22

共 32 条

[1]

Avila MA, 2004, P AMER CONTR CONF, P2603

[2]

Azlan NZ, 2006, IEEE ST CONF RES DEV, P136

[3] Finite-time stability of continuous autonomous systems [J].

Bhat, SP ;

Bernstein, DS .

SIAM JOURNAL ON CONTROL AND OPTIMIZATION, 2000, 38 (03) :751-766

[4] Geometric homogeneity with applications to finite-time stability [J].

Bhat, SP ;

Bernstein, DS .

MATHEMATICS OF CONTROL SIGNALS AND SYSTEMS, 2005, 17 (02) :101-127

[5]

Bhat SP, 1997, P AMER CONTR CONF, P2513, DOI 10.1109/ACC.1997.609245

[6]

Bröcker M, 2001, ROMOCO'01: PROCEEDINGS OF THE SECOND INTERNATIONAL WORKSHOP ON ROBOT MOTION AND CONTROL, P213, DOI 10.1109/ROMOCO.2001.973457

[7]

DANDREANOVEL B, 1994, 1994 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS - HUMANS, INFORMATION AND TECHNOLOGY, VOLS 1-3, P1932, DOI 10.1109/ICSMC.1994.400134

[8] Fuzzy Control for Nonlinear Uncertain Electrohydraulic Active Suspensions With Input Constraint [J].

Du, Haiping ;

Zhang, Nong .

IEEE TRANSACTIONS ON FUZZY SYSTEMS, 2009, 17 (02) :343-356

[9]

Edge K. A., 1995, Proceedings of the Institution of Mechanical Engineers, Part I (Journal of Systems and Control Engineering), V209, P191, DOI 10.1243/PIME_PROC_1995_209_383_02

[10]

Edge K. A., 1995, P I MECH ENG 1, V209, P197

← 1 2 3 4 →