Proportional integral sliding mode control of hydraulic robot manipulators with chattering elimination
This paper is concerned with the application of a robust control approach based on Sliding Mode Control (SMC) strategy with proportional integral switching surface in controlling the position trajectory of a hydraulic manipulator. This paper also addresses the suppression technique for the unde...
| Main Authors: | , , |
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| Format: | Conference or Workshop Item |
| Language: | English |
| Published: |
2006
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| Subjects: | |
| Online Access: | http://irep.iium.edu.my/45661/ http://irep.iium.edu.my/45661/ http://irep.iium.edu.my/45661/1/45661.pdf |
| Summary: | This paper is concerned with the application of a
robust control approach based on Sliding Mode Control
(SMC) strategy with proportional integral switching surface
in controlling the position trajectory of a hydraulic
manipulator. This paper also addresses the suppression
technique for the undesirable chattering phenomenon which
usually occurs in SMC by replacing the discontinuous
controller sign function with a proper continuous function.
Chattering is unwanted because it leads to an excessive usage
and damages the actuators and therefore the control law may
become impractical. In this study, an integrated model of
hydraulically actuated robot that considers both the
manipulator linkage and actuator dynamics is used to provide
a more suitable model for controller synthesis and analysis.
The control technique is stable in the large based on
Lyapunov theory. Its performance is evaluated and compared
with the existing Independent Joint Linear Control (IJC)
technique through computer simulation. The results prove
that the controller has successfully force the robot
manipulator to track the desired position trajectory for all
times and has better performance than IJC. |
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