A simple and robust tracking controller based on time delay estimation and nonsingular fast terminal sliding mode is proposed for the position control of hydraulic manipulator. The proposed controller does not require the mathematical model of hydraulic manipulator dynamics, which ensures that the method is simple and model free. Two elements, time delay estimation and nonsingular fast terminal sliding mode, are implemented in the proposed controller. Time delay estimation estimates the complex dynamics of the hydraulic manipulator, and nonsingular fast terminal sliding mode is implemented as the nonlinear desired error dynamic to ensure fast convergence and high trajectory tracking accuracy. Experiments are performed to verify the tracking performance of the method on a hydraulic manipulator. The results demonstrate that this method achieves faster and higher precision position tracking performance than a conventional time delay control with linear error dynamics.
KoivumäkiJMattilaJ. Stability-guaranteed force-sensorless contact force/motion control of heavy-duty hydraulic manipulators. IEEE T Robot2015; 31(4): 918–935.
2.
LiuKGaoYTuZet al. Energy-saving analysis of the independent metering system with pressure compensation for excavator’s manipulator. Proc IMechE, Part I: J Systems and Control Engineering2016; 230(9): 905–920.
3.
GuoHLiuYLiuGet al. Cascade control of a hydraulically driven 6-DOF parallel robot manipulator based on a sliding mode. Control Eng Pract2008; 16(9): 1055–1068.
4.
YaoJJiaoZMaDet al. High-accuracy tracking control of hydraulic rotary actuators with modeling uncertainties. IEEE/ASME T Mech2014; 19(2): 633–641.
5.
HanssonAServinM. Semi-autonomous shared control of large-scale manipulator arms. Control Eng Pract2010; 18(9): 1069–1076.
6.
SepehriNKhayyatAAHeinrichsB. Development of a nonlinear PI controller for accurate positioning of an industrial hydraulic manipulator. Mechatronics1997; 7(8): 683–700.
7.
HeinrichsBSepehriNThornton-TrumpAB. Position-based impedance control of an industrial hydraulic manipulator. IEEE Contr Syst Mag1997; 17(1): 46–52.
8.
MohantyAYaoB. Indirect adaptive robust control of hydraulic manipulators with accurate parameter estimates. IEEE T Contr Syst T2011; 19(3): 567–575.
9.
XuZMaDYaoJet al. Feedback nonlinear robust control for hydraulic system with disturbance compensation. Proc IMechE, Part I: J Systems and Control Engineering2016; 230(9): 978–987.
10.
WangXSunXLiSet al. Finite-time position tracking control of rigid hydraulic manipulators based on high-order terminal sliding mode. Proc IMechE, Part I: J Systems and Control Engineering2011; 226(3): 394−415.
11.
ChenQShuHFangWet al. Fluid structure interaction for circulation valve of hydraulic shock absorber. J Cent South Univ2013; 20: 648–654.
12.
GuanCPanS. Adaptive sliding mode control of electro-hydraulic system with nonlinear unknown parameters. Control Eng Pract2008; 16(11): 1275–1284.
13.
HeQZhangDHaoPet al. Modeling and control of hydraulic excavator’s arm. J Cent South Univ2006; 13(4): 422–427.
14.
Dos Santos CoelhoLCunhaMAB. Adaptive cascade control of a hydraulic actuator with an adaptive dead-zone compensation and optimization based on evolutionary algorithms. Expert Syst Appl2011; 38(10): 12262–12269.
15.
Youcef-ToumiKItoO. A time delay controller for systems with unknown dynamics. J Dyn Syst: T ASME1990; 112(1): 133–142.
16.
HsiaTCSLaskyTAGuoZ. Robust independent joint controller design for industrial robot manipulators. IEEE T Ind Electron1991; 38(1): 21–25.
17.
HanDKChangPHJinM. Robust trajectory control of robot manipulators using time delay control with adaptive compensator. In: Proceedings of the 17th world congress, Seoul, Korea, 6–11 July 2008, vol. 41, no. 2, pp.2276–2281. New York: IFAC.
18.
JinMJinYChangPHet al. High-accuracy tracking control of robot manipulators using time delay estimation and terminal sliding mode. Int J Adv Robot Syst2011; 8(4): 65–78.
19.
JinMChangPH. Simple robust technique using time delay estimation for the control and synchronization of Lorenz systems. Chaos Soliton Fract2009; 41(5): 2672–2680.
20.
LeeJYooCParkYSet al. An experimental study on time delay control of actuation system of tilt rotor unmanned aerial vehicle. Mechatronics2012; 22(2): 184–194.
21.
LeeJJinMAhnKK. Precise tracking control of shape memory alloy actuator systems using hyperbolic tangential sliding mode control with time delay estimation. Mechatronics2013; 23(3): 310–317.
22.
JinMLeeJChangPHet al. Practical nonsingular terminal sliding-mode control of robot manipulators for high-accuracy tracking control. IEEE T Ind Electron2009; 56(9): 3593–3601.
23.
WangYLuoGGuLet al. Fractional-order nonsingular terminal sliding mode control of hydraulic manipulators using time delay estimation. J Vib Control2016; 22(19): 3998–4011.
24.
ChangPHLeeSJ. A straight-line motion tracking control of hydraulic excavator system. Mechatronics2002; 12(1): 119–138.
25.
LeeSUChangPH. Control of a heavy-duty robotic excavator using time delay control with integral sliding surface. Control Eng Pract2002; 10(7): 697–711.
26.
ZakM. Terminal attractors for addressable memory in neural networks. Phys Lett A1988; 133(1): 18–22.
27.
YuXZhihongM. Fast terminal sliding-mode control design for nonlinear dynamical systems. IEEE T Circuits: I2002; 49(2): 261–264.
28.
FengYYuXManZ. Non-singular terminal sliding mode control of rigid manipulators. Automatica2002; 38(12): 2159–2167.
29.
YuXZhihongMFengYet al. Nonsingular terminal sliding mode control of a class of nonlinear dynamical systems. In: Proceedings of the 15th triennial world congress, Barcelona, 21–26 July 2002, vol. 35, no. 1, pp.161–165. New York: IFAC.
30.
YuSYuXShirinzadehBet al. Continuous finite-time control for robotic manipulators with terminal sliding mode. Automatica2005; 41(11): 1957–1964.
31.
YangLYangJ. Nonsingular fast terminal sliding-mode control for nonlinear dynamical systems. Int J Robust Nonlin2011; 21(16): 1865–1879.
32.
WangYChenJGuLet al. Time delay control of hydraulic manipulators with continuous nonsingular terminal sliding mode. J Cent South Univ2015; 22(12): 4616–4624.
33.
LeeSUChangPH. The development of anti-windup scheme for time delay control with switching action using integral sliding surface. J Dyn Syst: T ASME2004; 125(4): 630–638.
