期刊
IEEE ACCESS
卷 6, 期 -, 页码 36798-36809出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/ACCESS.2018.2848240
关键词
Hydraulic driven manipulator; fast nonsingular terminal sliding mode; backstepping control; disturbance observer
资金
- Korea Government Ministry of Trade, Industry and Energy through the Korea Institute of Energy Technology Evaluation and Planning [G032070311]
- National Research Foundation of Korea, Korean Government, through the Basic Science Research Program [MEST NRF-2017R1A2B3004625]
- Korea Evaluation Institute of Industrial Technology (KEIT) [20172020108920] Funding Source: Korea Institute of Science & Technology Information (KISTI), National Science & Technology Information Service (NTIS)
- National Research Foundation of Korea [2017R1A2B3004625, 22A20130011018] Funding Source: Korea Institute of Science & Technology Information (KISTI), National Science & Technology Information Service (NTIS)
This paper gives the kinematic description and mathematical dynamic model of a three-degrees-of-freedom manipulator, including hydraulic actuator dynamics, and then proposes a disturbance observer-based robust control scheme for the position and torque tracking control subjected to the external disturbances and parameter uncertainties. First of all, the kinematic of the manipulator system is built according to the Denavit-Hartenberg notation. The joint space, actuator space, and the mathematical model of the manipulator, including hydraulic actuator dynamics, are then presented. Next, a robust control technique is designed for the fast and finite-time tracking capability of the torque signals along the desired torque commands, and a fast nonsingular terminal sliding mode control algorithm is developed to guarantee the fast convergence of the joint positions to their desired values. Moreover, two disturbance observer schemes are proposed to estimate and compensate the external disturbances and modeling errors in the manipulator system and hydraulic actuator system. Stability analysis of the cascade hydraulic manipulator system is analyzed and proved using the backstepping technique and Lyapunov theory. Finally, numerical simulations are obtained to validate the effectiveness of the designed control algorithm.
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