Time delay control of hydraulic manipulators with continuous nonsingular terminal sliding mode  

作　　者：王尧尧 陈家旺 顾临怡 李晓东 

机构地区：[1]State Key Laboratory of Fluid Power Transmission and Control (Zhejiang University) [2]Ocean College,Zhejiang University

出　　处：《Journal of Central South University》2015年第12期4616-4624,共9页中南大学学报（英文版）

基　　金：Project(51004085)supported by the National Natural Science Foundation of China

摘　　要：For the position tracking control of hydraulic manipulators,a novel method of time delay control(TDC) with continuous nonsingular terminal sliding mode(CNTSM) was proposed in this work.Complex dynamics of the hydraulic manipulator is approximately canceled by time delay estimation(TDE),which means the proposed method is model-free and no prior knowledge of the dynamics is required.Moreover,the CNTSM term with a fast-TSM-type reaching law ensures fast convergence and high-precision tracking control performance under heavy lumped uncertainties.Despite its considerable robustness against lumped uncertainties,the proposed control scheme is continuous and chattering-free and no pressure sensors are required in practical applications.Theoretical analysis and experimental results show that faster and higher-precision position tracking performance is achieved compared with the traditional CNTSM-based TDC method using boundary layers.For the position tracking control of hydraulic manipulators,a novel method of time delay control（TDC） with continuous nonsingular terminal sliding mode（CNTSM） was proposed in this work.Complex dynamics of the hydraulic manipulator is approximately canceled by time delay estimation（TDE）,which means the proposed method is model-free and no prior knowledge of the dynamics is required.Moreover,the CNTSM term with a fast-TSM-type reaching law ensures fast convergence and high-precision tracking control performance under heavy lumped uncertainties.Despite its considerable robustness against lumped uncertainties,the proposed control scheme is continuous and chattering-free and no pressure sensors are required in practical applications.Theoretical analysis and experimental results show that faster and higher-precision position tracking performance is achieved compared with the traditional CNTSM-based TDC method using boundary layers.

关 键 词：time delay control terminal sliding mode MODEL-FREE hydraulic manipulators 

分 类 号：TH137[机械工程—机械制造及自动化] TP241[自动化与计算机技术—检测技术与自动化装置]