Time delay control of hydraulic manipulators with continuous nonsingular terminal sliding mode

Abstract

For the position tracking control of hydraulic manipulators, a novel method of time delay control (TDC) with continuous nonsingular terminal sliding mode (CNTSM) was proposed in this work. Complex dynamics of the hydraulic manipulator is approximately canceled by time delay estimation (TDE), which means the proposed method is model-free and no prior knowledge of the dynamics is required. Moreover, the CNTSM term with a fast-TSM-type reaching law ensures fast convergence and high-precision tracking control performance under heavy lumped uncertainties. Despite its considerable robustness against lumped uncertainties, the proposed control scheme is continuous and chattering-free and no pressure sensors are required in practical applications. Theoretical analysis and experimental results show that faster and higher-precision position tracking performance is achieved compared with the traditional CNTSM-based TDC method using boundary layers.

Keywords

time delay control / terminal sliding mode / model-free / hydraulic manipulators

References

[1] PiY-j, WangX-y, GuXi. Synchronous tracking control of 6-DOF hydraulic parallel manipulator using cascade control method [J]. Journal of Central South University of Technology, 2011, 18(5): 1554-1562

[2] WangX, SunX, LiS, YeH. Finite time position tracking control of rigid hydraulic manipulators based on high order terminal sliding mode [J]. Proceedings of the Institution of Mechanical Engineers Part I¡ªJournal of Systems and Control Engineering, 2012, 226(3): 394-415

[3] ChenQ-p, ShuH-y, FangW-q, HeL-g, YangM-ju. Fluid structure interaction for circulation valve of hydraulic shock absorber [J]. Journal of Central South University, 2013, 20(3): 648-654

[4] PiY-j W X-yin. Trajectory tracking control of a 6-DOF hydraulic parallel robot manipulator with uncertain load disturbances [J]. Control Engineering Practice, 2011, 19(2): 185-193

[5] MohantyA, YaoBin. Integrated direct/indirect adaptive robust control of hydraulic manipulators with valve deadband [J]. IEEE/ASME Transactions on Mechatronics, 2011, 16(4): 707-715

[6] CoelhoL D S, CunhaM A B. Adaptive cascade control of a hydraulic actuator with an adaptive dead-zone compensation and optimization based on evolutionary algorithms [J]. Expert Systems with Applications, 2011, 38(10): 12262-12269

[7] LeeJ, JinM-l, AhnK K. Precise tracking control of shape memory alloy actuator systems using hyperbolic tangential sliding mode control with time delay estimation [J]. Mechatronics, 2013, 23(3): 310-317

[8] LeeL, YooC, ParkY S, ParkB, LeeS J, GweonD G, ChangP H. An experimental study on time delay control of actuation system of tilt rotor unmanned aerial vehicle [J]. Mechatronics, 2012, 22(2): 184-194

[9] JinM-l, LeeJ, AhnK K. Continuous nonsingular terminal sliding-mode control of shape memory alloy actuators using time delay estimation [J]. IEEE/ASME Transactions on Mechatronics, 2015, 20(2): 899-909

[10] YuS-h, YuX-h, ShirinzadehB, ManZ-long. Continuous finite-time control for robotic manipulators with terminal sliding mode [J]. Automatica, 2005, 41(11): 1957-1964

[11] JinM-l, LeeJ, ChangP H, ChoiC. Practical nonsingular terminal sliding-mode control of robot manipulators for high-accuracy tracking control [J]. IEEE Transactions on Industrial Electronics, 2009, 56(9): 3593-3601

[12] ChangP H, LeeS. A straight-line motion tracking control of hydraulic excavator system [J]. Mechatronics, 2002, 12(1): 119-138

[13] LeeS, ChangP H. Control of a heavy-duty robotic excavator using time delay control with integral sliding surface [J]. Control Engineering Practice, 2002, 10(7): 697-711

[14] KumarR P, DasguptaA, KumarC S. Robust trajectory control of underwater vehicles using time delay control law [J]. Ocean Engineering, 2007, 34(5/6): 842-849

[15] ChangP H, ParkS H. On improving time-delay control under certain hard nonlinearities [J]. Mechatronics, 2003, 13(4): 393-412