Modeling and proportional integral sliding mode control of hydraulic manipulators

Zainul Azlan, Norsinnira and Osman, Johari Halim Shah (2006) Modeling and proportional integral sliding mode control of hydraulic manipulators. In: 4th Student Conference on Research and Development (SCOReD 2006), 27th-28th June 2006, Shah Alam, Selangor.

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Abstract

This paper is concerned with the mathematical modeling and the application of a new position tracking control technique for hydraulic manipulators. The integrated model takes into account both the manipulator linkage as well as the actuator dynamics to represent a closer dynamic behaviour of the real system, thus providing a more suitable model for the purpose of advanced controller synthesis and analysis. Although hydraulic manipulators provide large torque and fast response, they possess highly nonlinear dynamics, parameter variations, uncertain load disturbances and strong couplings among various joints. Therefore, a robust control approach based on proportional integral sliding mode control (PISMC) technique is adopted to provide position tracking for the system. It will be shown that the proposed controller is practically stable and is successful in forcing the robotic system to track the predefined desired trajectory at all time. A 3 DOF revolute robot manipulator is used in this study.

Item Type:	Conference or Workshop Item (Full Paper)
Additional Information:	4494/45659 (E-ISBN :978-1-4244-0527-5, ISBN: 978-1-4244-0526-8, DOI: 10.1109/SCORED.2006.4339326)
Uncontrolled Keywords:	Robot Manipulator, Hydraulic System, Hydraulic Manipulator, Sliding Mode Control, Proportional Integral Sliding Mode Control
Subjects:	T Technology > TJ Mechanical engineering and machinery > TJ212 Control engineering T Technology > TK Electrical engineering. Electronics Nuclear engineering
Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button):	Kulliyyah of Engineering > Department of Mechatronics Engineering
Depositing User:	Norsinnira Zainul Azlan
Date Deposited:	24 Nov 2015 15:38
Last Modified:	24 Nov 2015 15:38
URI:	http://irep.iium.edu.my/id/eprint/45659

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