Paper Details: Downloads: 796
Serial Number: P1130941891
Title: Multirate Output Feedback Sliding Mode Control of a Hydraulic Manipulator End Effector
Authors: Daniel Waterman and Kenzo Nonami
Abstract: This paper presents a method for controlling the velocity of a hydraulic manipulator’s end effector using predictive multirate output feedback sliding mode control for three co-planar joints. The velocity references for the joints are generated using a pseudo-inverse Jacobian algorithm for a redundant manipulator. The nominal plant model for each joint’s cylinder is second order with time-delayed input and disturbance. The scheme uses fast-sampled output to estimate the unmeasured states. A discrete predictor is used to treat the time delay, and the controller is designed for the future predicted states. Simulation and experiment results verify the proposed controller’s performance despite the strong coupling and nonlinearity inherent in hydraulic manipulators.
Keywords: Sliding mode control, Multirate output feedback, Discrete predictor, Hydraulic manipulator, Redundant manipulator.
Journal/Conference: International Journal of Automation, Robotics and Autonomous Systems
Volume: 9
Issue: 1
Submission Date: 10/6/2009 12:00:00 AM
Review Date: 10/25/2009 12:00:00 AM
Publishing Date: 11/12/2009 12:00:00 AM
Article Downloads: 796
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