Robust position control of hydraulic manipulators using time delay estimation and nonsingular fast terminal sliding mode

Liang, Xiaolong; Wan, Yi; Zhang, Chengrui; Kou, Yanyun; Xin, Qianqian; Yi, Wei

doi:10.1177/0959651817733596

Cited by 11 publications

(11 citation statements)

References 35 publications

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“…MATLAB R2019b is applied as the simulation platform to track the ideal curve trajectories by using the FETSM, the ETSM [27], the ESM [28] and PID [10] methods respectively. By comparing the error of position tracking of each joint, the effects of the trajectory tracking of the above four control methods are analyzed.…”

Section: Analysis On Trajectory Trackingmentioning

confidence: 99%

Trajectory-Tracking Control for Manipulators Based on Fuzzy Equivalence and a Terminal Sliding Mode

Liu

Zhang

et al. 2021

SV-JME

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To suppress the chattering of manipulators under heavy-load operations, a control method called fuzzy equivalence & terminal sliding mode (FETSM) was applied to the trajectory tracking of motion curves for manipulators. Based on the switching term of the equivalent sliding mode (ESM), a fuzzy parameter matrix processed by the simple fuzzy rules was introduced, and the fuzzy switching term was obtained. By summing the fuzzy switching term and the equivalent term of the equivalence and a terminal sliding mode (ETSM), the control law of the FETSM for manipulators was obtained. On this basis, the stability of the system was analysed and the finite arrival time of it was deduced. On the premise of ensuring the stability of the system, the fuzzy rules and membership functions were designed for the fuzzy constants in the fuzzy switching term. Simulation tests show that the proposed FETSM can ensure sufficient trajectory-tracking precision, error convergence speed, and robustness. Compared with the ETSM, the proposed FETSM can reduce the chattering time by 94.75 % on average; compared with the proportion-integral-differential (PID) control method, the maximum chattering amplitude by the FETSM can be reduced by at least 99.21 %. Thus, the proposed FETSM is suitable for those manipulators under heavy-load operations.

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Section: Analysis On Trajectory Trackingmentioning

confidence: 99%

Trajectory-Tracking Control for Manipulators Based on Fuzzy Equivalence and a Terminal Sliding Mode

Liu

Zhang

et al. 2021

SV-JME

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“…As mobile tasks become more complicated, redundant hydraulic manipulators with 7 DOFs, such as electrically driven redundant robots (e.g., CENTAURO and NimbRo [6]), are increasingly required to improve flexibility and dexterity. For example, Kivelä et al [7] from Tampere University in Finland designed an 8-DOF hydraulic manipulator for the International Thermonuclear Experimental Reactor and found that its redundancy feature was beneficial for optimizing the execution of remote handling tasks. Liang et al [8] designed a 7-DOF HRM with seven revolute joints for rescue areas during natural disasters.…”

Section: Introductionmentioning

confidence: 99%

Development of a redundant anthropomorphic hydraulically actuated manipulator with a roll-pitch-yaw spherical wrist

et al. 2021

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The demand for redundant hydraulic manipulators that can implement complex heavy-duty tasks in unstructured areas is increasing; however, current manipulator layouts that remarkably differ from human arms make intuitive kinematic operation challenging to achieve. This study proposes a seven-degree-of-freedom (7-DOF) redundant anthropomorphic hydraulically actuated manipulator with a novel roll-pitch-yaw spherical wrist. A hybrid series-parallel mechanism is presented to achieve the spherical wrist design, which consists of two parallel linear hydraulic cylinders to drive the yaw/pitch 2-DOF wrist plate connected serially to the roll structure. Designed as a 1RPRRR-1SPU mechanism (“R”, “P”, “S”, and “U” denote revolute, prismatic, spherical, and universal joints, respectively; the underlined letter indicates the active joint), the 2-DOF parallel structure is partially decoupled to obtain simple forward/inverse kinematic solutions in which a closed-loop subchain “RPRR” is included. The 7-DOF manipulator is then designed, and its third joint axis goes through the spherical center to obtain closed-form inverse kinematic computation. The analytical inverse kinematic solution is drawn by constructing self-motion manifolds. Finally, a physical prototype is developed, and the kinematic analysis is validated via numerical simulation and test results.

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“…Nowadays, manipulators and vehicle receiving hydraulic actuation constitute a huge global industrial sector [4][5][6]. Hydraulic manipulators are favoured in industry, mining, agriculture and construction work where large actuation forces are required [7][8][9]. For instance, in 2016 the construction business alone sold 0.7 million units of construction machines, while in 2019 the sales of robotic manipulators, including also hydraulic manipulators, reached the level of 0.4 million units.…”

Section: Introductionmentioning

confidence: 99%

“…There is ongoing research on the non-linear control problem of hydraulic manipulators in several engineering tasks [7,[27][28][29][30]. In this paper, a novel non-linear optimal control method is developed for multi-DOF electro-hydraulic robotic manipulators [1].…”

Section: Introductionmentioning

confidence: 99%

Non‐linear optimal control for multi‐DOF electro‐hydraulic robotic manipulators

Rigatos

Zervos

Abbaszadeh

et al. 2020

IET cyber-systems robotics

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A non-linear optimal (H-infinity) control approach is proposed for the dynamic model of multi-degree-of-freedom (DOF) electro-hydraulic robotic manipulators. Control of electro-hydraulic manipulators is a non-trivial problem because of their non-linear and multi-variable dynamics. In this study, the considered robotic system consists of a multi-link robotic manipulator that receives actuation from rotary electro-hydraulic drives. The article's approach relies first on approximate linearisation of the state-space model of the electro-hydraulic manipulator, according to first-order Taylor series expansion and the computation of the related Jacobian matrices. For the approximately linearised model of the manipulator, a stabilising H-infinity feedback controller is designed. To compute the controller's gains, an algebraic Riccati equation is solved at each time-step of the control algorithm. The global stability properties of the control scheme are proven through Lyapunov analysis. The proposed control method retains the advantages of typical optimal control, i.e. fast and accurate tracking of the reference setpoints under moderate variations of the control inputs.

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Robust position control of hydraulic manipulators using time delay estimation and nonsingular fast terminal sliding mode

Cited by 11 publications

References 35 publications

Trajectory-Tracking Control for Manipulators Based on Fuzzy Equivalence and a Terminal Sliding Mode

Trajectory-Tracking Control for Manipulators Based on Fuzzy Equivalence and a Terminal Sliding Mode

Development of a redundant anthropomorphic hydraulically actuated manipulator with a roll-pitch-yaw spherical wrist

Non‐linear optimal control for multi‐DOF electro‐hydraulic robotic manipulators

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