Robust control of a hydraulically driven flexible arm
Guang LI
Khajepour AMIR
摘要：A new robust controller is proposed to regulate both flexural vibrations and rigid body motion of a hydraulically driven flexible arm. The controller combines backstepping control and sliding mode to arrive at a controller capable of dealing with a nonlinear system with uncertainties. The sliding mode technique is used to achieve an asymptotic joint angle and vibration regulation in the presence of payload uncertainty by providing a virtual torque input at the joint while the backstepping technique is used to regulate the spool position of a hydraulic valve to provide the required torque. It is shown that there is no chatter in the hydraulic valve, which results in smoother operation of the system.
机标关键词：hydraulic valvesliding modebackstepping controlrobust controllerrigid body motionnonlinear systemflexible arm
分类号：O1(数学)
论文发表日期：2004-01-01
在线出版日期：2025-08-15（本平台首次上网日期，不代表文献的发表时间）
页数：3( 99-101 )
英文信息