吉林大学学报(工学版) ›› 2013, Vol. 43 ›› Issue (05): 1367-1374.doi: 10.7964/jdxbgxb201305035

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Modeling and trajectory tracking control of vehicle hydraulic rigid-flexible manipulator based on the expected joint angle compensation

XU Yong-jun1, LI Yuan-chun1,2, ZHAO Xiao-hui1   

  1. 1. College of Communication Engineering, Jilin University, Changchun 130012, China;
    2. Department of Control Engineering, Changchun University of Technology, Changchun 130012, China
  • Received:2012-08-22 Online:2013-09-01 Published:2013-09-01

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Abstract:

First, by introducing a driven Jacobi matrix, the dynamic equations of the hydraulic rigid-flexible manipulator were derived using Lagrange principle and the assumed mode method. Then, a joint angel compensation algorithm was proposed by considering the characteristics of flexible arm. In order to weaken the effect of parameter perturbation and external interference, an adaptive sliding model controller was developed to simultaneously control the rigid motion and suppress vibration with uncertainties estimated by the adaptive law. Simulation results were presented to demonstrate the effectiveness of the proposed approach.

Key words: automatic control technology, hydraulic rigid-flexible manipulator, assumed mode method, adaptive sliding mode control, quasi-static compensation

CLC Number: 

  • TP273

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