Modeling and controlling of a flexible hydraulic manipulator^①

来源期刊：中南大学学报(英文版)2005年第5期

论文作者：李光辉 吴敏

文章页码：578 - 583

Key words：dynamic modeling; flexible manipulator; sliding mode control; backstepping control; hydraulic actuator

Abstract: A mathematical model was developed combining the dynamics of an Euler-Bernoulli beam, described by the assumed-mode method and hydraulic circuit dynamics. Only one matrix, termed drive Jacobian, was needed in the modeling of interaction between hydraulic circuit and flexible manipulator mechanism. Furthermore, a new robust controller based on mentioned above dynamic model was also considered to regulate both flexural vibrations and rigid body motion. The proposed controller combined sliding mode and backstepping techniques to deal with the nonlinear system with uncertainties. The sliding mode control was used to achieve an asymptotic joint angle and vibration regulation by providing a virtual force while the backstepping technique was used to regulate the spool position of a hydraulic valve to provide the required control force. Simulation results are presented to show the stabilizing effect and robustness of this control strategy.

基金信息：the National Natural Science Foundation of China