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A Structured Rehabilitation Protocol for Improved Multifunctional Prosthetic Control: A Case Study

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Posture Control of Hydraulic Flexible Second-Order Manipulators Based on Adaptive Integral Terminal

Jianliang Xu¹, Zhen Sui², Feng Xu^1,2

¹School of Mechanical and Electrical Engineering, Quzhou College of Technology, Quzhou 324000, China.

Sensors (Basel, Switzerland)

|March 17, 2025

Summary

This study introduces a discrete-time integral terminal sliding mode predictive control (DITSMPC) for hydraulic flexible manipulators. The new DITSMPC method enhances posture tracking control precision and reduces torque variations in industrial automation.

Keywords:

disturbance compensation manipulator multi-input multi-output system posture trajectory tracking predictive control sliding mode control

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Area of Science:

Robotics and Control Systems
Mechanical Engineering
Automation and Intelligent Systems

Background:

Increasing complexity in industrial operations demands more intelligent and automated manipulators.
Hydraulic flexible manipulators face challenges in precise posture tracking control.
Existing control methods may suffer from issues like system buffeting and imprecise tracking.

Purpose of the Study:

To propose a novel discrete-time integral terminal sliding mode predictive control (DITSMPC) method for hydraulic flexible manipulators.
To enhance the precision and robustness of posture tracking control in industrial manipulators.
To mitigate the influence of sliding mode control (SMC) buffeting and improve system performance.

Main Methods:

Development of a second-order dynamic model for the manipulator using the Lagrangian dynamic strategy.
Design of a discrete-time sliding mode control (SMC) law with an adaptive switching term for high-precision tracking.
Integration of a predictive time domain function into the SMC law and estimation of unknown system terms to reduce buffeting.

Main Results:

The proposed DITSMPC scheme demonstrates convergence and is mathematically proven.
Simulation results show significantly smoother torque variations in manipulator joints compared to classical discrete-time SMC (integral of variations: 5.22×10^3).
Trajectory tracking errors for each joint were maintained within ±0.0025 rad, outperforming the classical SMC method.

Conclusions:

The DITSMPC method offers superior performance in posture tracking control for hydraulic flexible manipulators.
The proposed control strategy effectively reduces torque buffeting and improves tracking accuracy in complex industrial scenarios.
This advancement contributes to more intelligent and reliable automation in industrial robotics.