Disturbance Observer Based Finite Time Trajectory Tracking Control for a 3 DOF Hydraulic Manipulator Including Actuator Dynamics | Zendy

To Xuan Dinh | Zendy; Tran Duc Thien | Zendy; Truong Hoai Vu Anh | Zendy; Kyoung Kwan Ahn | Zendy

Open Access

Disturbance Observer Based Finite Time Trajectory Tracking Control for a 3 DOF Hydraulic Manipulator Including Actuator Dynamics

Author(s) -

To Xuan Dinh,

Tran Duc Thien,

Truong Hoai Vu Anh,

Kyoung Kwan Ahn

Publication year - 2018

Publication title -

ieee access

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.587

H-Index - 127

ISSN - 2169-3536

DOI - 10.1109/access.2018.2848240

Subject(s) - aerospace , bioengineering , communication, networking and broadcast technologies , components, circuits, devices and systems , computing and processing , engineered materials, dielectrics and plasmas , engineering profession , fields, waves and electromagnetics , general topics for engineers , geoscience , nuclear engineering , photonics and electrooptics , power, energy and industry applications , robotics and control systems , signal processing and analysis , transportation

This paper gives the kinematic description and mathematical dynamic model of a three-degrees-of-freedom manipulator, including hydraulic actuator dynamics, and then proposes a disturbance observer-based robust control scheme for the position and torque tracking control subjected to the external disturbances and parameter uncertainties. First of all, the kinematic of the manipulator system is built according to the Denavit-Hartenberg notation. The joint space, actuator space, and the mathematical model of the manipulator, including hydraulic actuator dynamics, are then presented. Next, a robust control technique is designed for the fast and finite-time tracking capability of the torque signals along the desired torque commands, and a fast nonsingular terminal sliding mode control algorithm is developed to guarantee the fast convergence of the joint positions to their desired values. Moreover, two disturbance observer schemes are proposed to estimate and compensate the external disturbances and modeling errors in the manipulator system and hydraulic actuator system. Stability analysis of the cascade hydraulic manipulator system is analyzed and proved using the backstepping technique and Lyapunov theory. Finally, numerical simulations are obtained to validate the effectiveness of the designed control algorithm.

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