Proportional Integral Sliding Mode Control of Hydraulic Robot Manipulators with Chattering Elimination

First International Conference on Industrial and Information Systems Pub Date : 2006-08-01 DOI:10.1109/ICIINFS.2006.347163

N. Azlan, J. Osman, M.N. Ahmad

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引用次数: 5

Abstract

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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基于消颤的液压机器人比例积分滑模控制

研究了一种基于比例积分切换面滑模控制策略的鲁棒控制方法在液压机械臂位置轨迹控制中的应用。本文还讨论了用适当的连续函数代替不连续控制器符号函数来抑制SMC中经常出现的不良抖振现象的技术。抖振是不需要的，因为它会导致过度使用和损坏执行器，因此控制律可能变得不切实际。在本研究中，采用液压驱动机器人的综合模型，考虑了机械手的连杆和执行机构的动力学，为控制器的综合和分析提供了更合适的模型。基于李亚普诺夫理论的控制技术在大范围内是稳定的。通过计算机仿真对其性能进行了评价，并与现有的独立联合线性控制(IJC)技术进行了比较。结果表明，该控制器成功地使机器人始终跟踪期望的位置轨迹，性能优于IJC

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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First International Conference on Industrial and Information Systems

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