NDLI: Adaptive Sliding Mode Control for Hydraulic Flexible Manipulator Based on Two-Parameter Singular Perturbation Method

Content Provider	IEEE Xplore Digital Library
Author	Meng Wang Yuanchun Li Xiaolin Ren
Copyright Year	2013
Description	Author affiliation: State Key Lab. of Automotive Simulation & Control, Jilin Univ., Changchun, China (Meng Wang; Yuanchun Li) \|\| Dept. of Control Eng., Changchun Univ. of Technol., Changchun, China (Xiaolin Ren)
Abstract	This paper is concerned with the mathematical modeling and the application of a new position tracking control technique for a three-link hydraulic flexible manipulator. Considering the complexity of the dynamic model, and Based on two-parameter singular perturbation theory, it is divided into a fast subsystem driven by hydraulic servo, a secondary slow subsystem describing the large rigid motion and a secondary fast subsystem expressing the elastic vibration. A cooperative controller is given to control of rigid body motion and vibration suppression by adaptive sliding mode control and optimal control, respectively. Finally, the numerical simulation results demonstrate the effectiveness of the proposed method.
Sponsorship	IEEE Nanjing Sect. CIS Chapt.
Starting Page	57
Ending Page	60
File Size	272451
Page Count	4
File Format	PDF
ISBN	9780769550114
e-ISBN	9780769550114
DOI	10.1109/IHMSC.2013.161
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-08-26
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Vibrations Singular Perturbation Perturbation methods Optimal control Hydraulic flexible manipulator Adaptive sliding mode Vibration suppression Mathematical model Joints Servomotors Manipulator dynamics
Content Type	Text
Resource Type	Article

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