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Modeling and proportional integral sliding mode control of hydraulic manipulators

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 rea...

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Main Authors:	Zainul Azlan, Norsinnira, Osman, Johari Halim Shah
Format:	Conference or Workshop Item
Language:	English
Published:	2006
Subjects:	TJ212 Control engineering TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://irep.iium.edu.my/45659/1/45659.pdf http://irep.iium.edu.my/45659/ http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=4339326&tag=1
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spelling	my.iium.irep.456592015-11-24T07:38:53Z http://irep.iium.edu.my/45659/ Modeling and proportional integral sliding mode control of hydraulic manipulators Zainul Azlan, Norsinnira Osman, Johari Halim Shah TJ212 Control engineering TK Electrical engineering. Electronics Nuclear engineering 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. 2006 Conference or Workshop Item REM application/pdf en http://irep.iium.edu.my/45659/1/45659.pdf Zainul Azlan, Norsinnira and Osman, Johari Halim Shah (2006) Modeling and proportional integral sliding mode control of hydraulic manipulators. In: 4th Student Conference on Research and Development (SCOReD 2006), 27th-28th June 2006, Shah Alam, Selangor. http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=4339326&tag=1
institution	Universiti Islam Antarabangsa Malaysia
building	IIUM Library
collection	Institutional Repository
continent	Asia
country	Malaysia
content_provider	International Islamic University Malaysia
content_source	IIUM Repository (IREP)
url_provider	http://irep.iium.edu.my/
language	English
topic	TJ212 Control engineering TK Electrical engineering. Electronics Nuclear engineering
spellingShingle	TJ212 Control engineering TK Electrical engineering. Electronics Nuclear engineering Zainul Azlan, Norsinnira Osman, Johari Halim Shah Modeling and proportional integral sliding mode control of hydraulic manipulators
description	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.
format	Conference or Workshop Item
author	Zainul Azlan, Norsinnira Osman, Johari Halim Shah
author_facet	Zainul Azlan, Norsinnira Osman, Johari Halim Shah
author_sort	Zainul Azlan, Norsinnira
title	Modeling and proportional integral sliding mode control of hydraulic manipulators
title_short	Modeling and proportional integral sliding mode control of hydraulic manipulators
title_full	Modeling and proportional integral sliding mode control of hydraulic manipulators
title_fullStr	Modeling and proportional integral sliding mode control of hydraulic manipulators
title_full_unstemmed	Modeling and proportional integral sliding mode control of hydraulic manipulators
title_sort	modeling and proportional integral sliding mode control of hydraulic manipulators
publishDate	2006
url	http://irep.iium.edu.my/45659/1/45659.pdf http://irep.iium.edu.my/45659/ http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=4339326&tag=1
_version_	1643612829399384064
score	13.211869

Modeling and proportional integral sliding mode control of hydraulic manipulators

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