Universiti Teknologi Malaysia Institutional Repository

Modeling and proportional integral sliding mode control of hydraulic manipulators

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

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Official URL: http://dx.doi.org/10.1109/SCORED.2006.4339326


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 (Paper)
Uncontrolled Keywords:actuator dynamics, controller analysis, controller synthesis, dynamic behaviour, hydraulic manipulators, position tracking control, proportional integral sliding mode control
Subjects:T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions:Electrical Engineering
ID Code:7460
Deposited By: Norhafizah Hussin
Deposited On:05 Jan 2009 07:18
Last Modified:27 Aug 2017 00:21

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