Sliding mode control of a single rigid hydraulically actuated manipulator
Indrawantoa, Bo T.X.b
a Department of Mechanical Engineering, Institute of Technology, Indonesia
b Institute Technology of Bandung, Department of Mechanical Engineering, Toyohashi University of Technology, Japan
Abstract
In this paper, controlling a rigid robot manipulator driven by hydraulic system is considered. Due to changing of inertia moment of the manipulator as well as the effect of fiction of hydraulic system, the dynamics of the robot arm is highly nonlinear. Therefore sliding mode control method is applied. Sliding mode control is a robust control method. It provides a symmetric approach to the problem of maintaining stability and consistent performance in the face of modeling imprecision. Numerical simulations and experiment results of the control system are presented. The results show the extremely good robustness of the proposed method. © October 2011 IJENS.
Author keywords
Indexed keywords
Hydraulic actuators,Robot control,Servosystems,Sliding mode control