吉林大学学报(工学版) ›› 2015, Vol. 45 ›› Issue (1): 193-201.doi: 10.13229/j.cnki.jdxbgxb201501029

• Orignal Article • Previous Articles     Next Articles

Adaptive second order sliding mode control for hydraulic manipulator based on backstepping

LI Yuan-chun1,WANG Meng2,SHENG LI-hui3,ZHAO Bo1,4   

  1. 1.Department of Control Engineering,Changchun University of Technology,Changchun 130012,China;
    2.The 41st Research Institute of CETC,Qingdao 266555,China;
    3.Unit 65043 of PLA,Changchun 130022,China;
    4.State Key Laboratory of Management and Control for Complex Systems,Institute of Automation,Chinese Academy of Sciences,Beijing 100190,China
  • Received:2013-08-01 Online:2015-02-01 Published:2015-02-01

RICH HTML

0   

PDF (PC)

360

Abstract: The coupling relationship between the manipulator and the hydraulic servo system is constructed by a driven Jacobian matrix. Then, the entire system dynamic model is established. Considering the unmodeled dynamic and external disturbance, the Adaptive Second Order Sliding Mode Control (ASOSMC), which can guarantee the tracking performance in finite time and strong robustness, is obtained by defining virtual control law and selecting suitable Lyapunov function. Simulation results show the effectiveness of the proposed control scheme, which can reduce the chattering phenomenon in traditional sliding mode which is harmful to hardware.

CLC Number: 

  • TP273
[1] GU Wan-li,WANG Ping,HU Yun-feng,CAI Shuo,CHEN Hong. Nonlinear controller design of wheeled mobile robot with H∞ performance [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(6): 1811-1819.
[2] JIANG Ji-hai, GE Ze-hua, YANG Chen, LIANG Hai-jian. Differentiator-based discrete variable structure controller for direct drive electro-hydraulic servo system [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1492-1499.
[3] WANG De-jun, WEI Wei-li, BAO Ya-xin. Actuator fault diagnosis of ESC system considering crosswind interference [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1548-1555.
[4] YAN Dong-mei, ZHONG Hui, REN Li-li, WANG Ruo-lin, LI Hong-mei. Stability analysis of linear systems with interval time-varying delay [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1556-1562.
[5] TIAN Yan-tao, ZHANG Yu, WANG Xiao-yu, CHEN Hua. Estimation of side-slip angle of electric vehicle based on square-root unscented Kalman filter algorithm [J]. 吉林大学学报(工学版), 2018, 48(3): 845-852.
[6] ZHANG Shi-tao, ZHANG Bao, LI Xian-tao, WANG Zheng-xi, TIAN Da-peng. Enhancing performance of FSM based on zero phase error tracking control [J]. 吉林大学学报(工学版), 2018, 48(3): 853-858.
[7] HU Yun-feng, WANG Chang-yong, YU Shu-you, SUN Peng-yuan, CHEN Hong. Structure parameters optimization of common rail system for gasoline direct injection engine [J]. 吉林大学学报(工学版), 2018, 48(1): 236-244.
[8] ZHU Feng, ZHANG Bao, LI Xian-tao, WANG Zheng-xi, ZHANG Shi-tao. Gyro signal processing based on strong tracking Kalman filter [J]. 吉林大学学报(工学版), 2017, 47(6): 1868-1875.
[9] JIN Chao-qiong, ZHANG Bao, LI Xian-tao, SHEN Shuai, ZHU Feng. Friction compensation strategy of photoelectric stabilized platform based on disturbance observer [J]. 吉林大学学报(工学版), 2017, 47(6): 1876-1885.
[10] LI Shou-tao, ZHAO Di, DING Hui, HAN Feng, YU Ding-li. Control strategies of tandem master cylinder pedal stroke simulator [J]. 吉林大学学报(工学版), 2017, 47(6): 1886-1893.
[11] FENG Jian-xin. Recursive robust filtering for uncertain systems with delayed measurements [J]. 吉林大学学报(工学版), 2017, 47(5): 1561-1567.
[12] HU Yun-feng, GU Wan-li, LIANG Yu, DU Le, YU Shu-you, CHEN Hong. Start-stop control of hybrid vehicle based on nonlinear method [J]. 吉林大学学报(工学版), 2017, 47(4): 1207-1216.
[13] SHEN Shuai, ZHANG Bao, LI Xian-tao, ZHU Feng, JIN Chao-qiong. Acceleration feedback control based on tracking differentiator [J]. 吉林大学学报(工学版), 2017, 47(4): 1217-1224.
[14] SHAO Ke-yong, CHEN Feng, WANG Ting-ting, WANG Ji-chi, ZHOU Li-peng. Full state based adaptive control of fractional order chaotic system without equilibrium point [J]. 吉林大学学报(工学版), 2017, 47(4): 1225-1230.
[15] DENG Li-fei, SHI Yao-wu, ZHU Lan-xiang, YU Ding-li. Failure detection of closed-loop systems and application to SI engines [J]. 吉林大学学报(工学版), 2017, 47(2): 577-582.
Viewed
Full text


Abstract

Cited
  Shared   
  Discussed   
No Suggested Reading articles found!
Copyright © Journal of Jilin University(Engineering and Technology Edition), All Rights Reserved.
Tel: +86-431-85095297　Fax: +86-431-85094074　E-mail: xbgxb@jlu.edu.cn
Powered by Beijing Magtech Co. Ltd