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

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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
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