Journal
APPLIED SCIENCES-BASEL
Volume 9, Issue 7, Pages -Publisher
MDPI
DOI: 10.3390/app9071455
Keywords
sliding perturbation observer; hydraulic cylinder; terminal sliding mode control with sliding perturbation observer; robust controller; trajectory tracking
Categories
Funding
- Competency Development Program for Industry Specialists of the Korean Ministry of Trade, Industry and Energy (MOTIE), Korea Institute for Advancement of Technology (KIAT)
- Ministry of Education [1345253125]
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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.
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