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...

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Main Authors:	Zainul Azlan, Norsinnira, Osman, Johari Halim Shah, Ahmad, Mohamad Noh
Format:	Conference or Workshop Item
Language:	English
Published:	2006
Subjects:	TJ212 Control engineering TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://irep.iium.edu.my/45661/ http://irep.iium.edu.my/45661/ http://irep.iium.edu.my/45661/1/45661.pdf

id	iium-45661
recordtype	eprints
spelling	iium-456612015-11-24T08:00:10Z http://irep.iium.edu.my/45661/ Proportional integral sliding mode control of hydraulic robot manipulators with chattering elimination Zainul Azlan, Norsinnira Osman, Johari Halim Shah Ahmad, Mohamad Noh TJ212 Control engineering TK Electrical engineering. Electronics Nuclear engineering 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. 2006 Conference or Workshop Item PeerReviewed application/pdf en http://irep.iium.edu.my/45661/1/45661.pdf Zainul Azlan, Norsinnira and Osman, Johari Halim Shah and Ahmad, Mohamad Noh (2006) Proportional integral sliding mode control of hydraulic robot manipulators with chattering elimination. In: 1st International Conference on Industrial and Information Systems (ICIIS 2006), 8th-11th August 2006, Peradeniya, Sri Lanka. http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=4216598&tag=1
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English
topic	TJ212 Control engineering TK Electrical engineering. Electronics Nuclear engineering
spellingShingle	TJ212 Control engineering TK Electrical engineering. Electronics Nuclear engineering Zainul Azlan, Norsinnira Osman, Johari Halim Shah Ahmad, Mohamad Noh Proportional integral sliding mode control of hydraulic robot manipulators with chattering elimination
description	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.
format	Conference or Workshop Item
author	Zainul Azlan, Norsinnira Osman, Johari Halim Shah Ahmad, Mohamad Noh
author_facet	Zainul Azlan, Norsinnira Osman, Johari Halim Shah Ahmad, Mohamad Noh
author_sort	Zainul Azlan, Norsinnira
title	Proportional integral sliding mode control of hydraulic robot manipulators with chattering elimination
title_short	Proportional integral sliding mode control of hydraulic robot manipulators with chattering elimination
title_full	Proportional integral sliding mode control of hydraulic robot manipulators with chattering elimination
title_fullStr	Proportional integral sliding mode control of hydraulic robot manipulators with chattering elimination
title_full_unstemmed	Proportional integral sliding mode control of hydraulic robot manipulators with chattering elimination
title_sort	proportional integral sliding mode control of hydraulic robot manipulators with chattering elimination
publishDate	2006
url	http://irep.iium.edu.my/45661/ http://irep.iium.edu.my/45661/ http://irep.iium.edu.my/45661/1/45661.pdf
first_indexed	2023-09-18T21:04:58Z
last_indexed	2023-09-18T21:04:58Z
_version_	1777410872032886784

Proportional integral sliding mode control of hydraulic robot manipulators with chattering elimination

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