Time delay control of hydraulic manipulators with continuous nonsingular terminal sliding mode
来源期刊：中南大学学报(英文版)2015年第12期
论文作者：WANG Yao-yao CHEN Jia-wang GU Lin-yi LI Xiao-dong
文章页码：4616 - 4624
Key words：time delay control; terminal sliding mode; model-free; hydraulic manipulators
Abstract: For the position tracking control of hydraulic manipulators, a novel method of time delay control (TDC) with continuous nonsingular terminal sliding mode (CNTSM) was proposed in this work. Complex dynamics of the hydraulic manipulator is approximately canceled by time delay estimation (TDE), which means the proposed method is model-free and no prior knowledge of the dynamics is required. Moreover, the CNTSM term with a fast-TSM-type reaching law ensures fast convergence and high-precision tracking control performance under heavy lumped uncertainties. Despite its considerable robustness against lumped uncertainties, the proposed control scheme is continuous and chattering-free and no pressure sensors are required in practical applications. Theoretical analysis and experimental results show that faster and higher-precision position tracking performance is achieved compared with the traditional CNTSM-based TDC method using boundary layers.
WANG Yao-yao(王尧尧)1, CHEN Jia-wang(陈家旺)2, GU Lin-yi(顾临怡)1, LI Xiao-dong(李晓东)1
(1. State Key Laboratory of Fluid Power Transmission and Control (Zhejiang University), Hangzhou 310027, China;
2. Ocean College, Zhejiang University, Hangzhou 310058, China)
Abstract:For the position tracking control of hydraulic manipulators, a novel method of time delay control (TDC) with continuous nonsingular terminal sliding mode (CNTSM) was proposed in this work. Complex dynamics of the hydraulic manipulator is approximately canceled by time delay estimation (TDE), which means the proposed method is model-free and no prior knowledge of the dynamics is required. Moreover, the CNTSM term with a fast-TSM-type reaching law ensures fast convergence and high-precision tracking control performance under heavy lumped uncertainties. Despite its considerable robustness against lumped uncertainties, the proposed control scheme is continuous and chattering-free and no pressure sensors are required in practical applications. Theoretical analysis and experimental results show that faster and higher-precision position tracking performance is achieved compared with the traditional CNTSM-based TDC method using boundary layers.
Key words:time delay control; terminal sliding mode; model-free; hydraulic manipulators
