Abstract
An improved sliding mode controller was designed to solve the problem of low tracking accuracy caused by various disturbances and errors existing in the hydraulic-driven manipulator for pushing ore truck. The state space equation of the hydraulic system of the pushing ore truck manipulator was modeled and derived, and a sliding mode function was designed. For interference signals, use interference observers for observation. For the unobserved parts, adaptive laws are used for compensation to reduce system chattering, and system’s stability is verified using Lyapunov functions. The simulation results show that, compared with the traditional Sliding mode control and adaptive sliding mode control, the adaptive sliding mode control strategy based on interference observer proposed in this paper can effectively weaken the system chattering, reduce the uncertainty caused by external interference and modeling error, and improve the trajectory tracking accuracy of the pushing ore truck manipulator.
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