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...
| Main Authors: | , |
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| Format: | Conference or Workshop Item |
| Language: | English |
| Published: |
2006
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| Subjects: | |
| Online Access: | http://eprints.utm.my/7460/ http://eprints.utm.my/7460/1/Johari_Halim_Shah_2006_Modeling_and_Proportional_Integral_Sliding.pdf |
| _version_ | 1848891474304827392 |
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| author | Azlan, N. Z. Osman, Johari Halim Shah |
| author_facet | Azlan, N. Z. Osman, Johari Halim Shah |
| author_sort | Azlan, N. Z. |
| building | UTeM Institutional Repository |
| collection | Online Access |
| 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. |
| first_indexed | 2025-11-15T20:58:32Z |
| format | Conference or Workshop Item |
| id | utm-7460 |
| institution | Universiti Teknologi Malaysia |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-15T20:58:32Z |
| publishDate | 2006 |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | utm-74602017-08-27T00:21:46Z http://eprints.utm.my/7460/ Modeling and proportional integral sliding mode control of hydraulic manipulators Azlan, N. Z. Osman, Johari Halim Shah 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. 2006-06 Conference or Workshop Item PeerReviewed application/pdf en http://eprints.utm.my/7460/1/Johari_Halim_Shah_2006_Modeling_and_Proportional_Integral_Sliding.pdf Azlan, N. Z. and Osman, Johari Halim Shah (2006) Modeling and proportional integral sliding mode control of hydraulic manipulators. In: Research and Development, 2006. SCOReD 2006. 4th Student Conference, 27-28 June 2006 , Selangor, Malaysia. http://dx.doi.org/10.1109/SCORED.2006.4339326 |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Azlan, N. Z. Osman, Johari Halim Shah Modeling and proportional integral sliding mode control of hydraulic manipulators |
| title | 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_short | Modeling and proportional integral sliding mode control of hydraulic manipulators |
| title_sort | modeling and proportional integral sliding mode control of hydraulic manipulators |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| url | http://eprints.utm.my/7460/ http://eprints.utm.my/7460/ http://eprints.utm.my/7460/1/Johari_Halim_Shah_2006_Modeling_and_Proportional_Integral_Sliding.pdf |