Sliding Mode Control of a Hydraulic Industrial Robot Journal Articles

abstract

• A general mathematical function for hydraulic actuators is reviewed in this paper. This model is used for the application of Computed Torque and Variable Structure controllers to a hydraulic industrial robot, the Workmaster, formerly manufactured by Thorn EMI Robotics. The model based controllers are examined to demonstrate the effectiveness of feedback and feedforward compensation in hydraulic systems. It is shown that a large performance improvement is obtained through feedforward and feedback compensation. A sliding mode component is added to model based compensation in order to improve the system’s performance by providing additional control action when there are modeling inaccuracies resulting from nonlinear friction effects.

authors

• Habibi, Saeid

status

• published 

publication date

• June 1, 1999

has subject area

• 09 Engineering (FoR)
• Industrial Engineering & Automation (Science Metrix)

published in

• Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME  Journal

keywords

• Automation & Control Systems
• Instruments & Instrumentation
• ROBUST
• Science & Technology
• Technology

Digital Object Identifier (DOI)

• 10.1115/1.2802473

start page

• 312

end page

• 318

volume

• 121

issue

• 2