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Extended State Observer-Based Chattering Free Terminal Sliding-Mode Control of Hydraulic Manipulators.

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This study introduces an advanced control strategy for hydraulic manipulators, enhancing trajectory tracking by addressing system uncertainties. The proposed extended state observer-based chattering-free terminal sliding-mode (ESO-CFTSM) control ensures robust performance.

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Area of Science:

  • Robotics and Control Systems
  • Mechanical Engineering
  • Automation

Background:

  • Hydraulic manipulators require precise control for complex tasks.
  • Electro-hydraulic servo systems (EHSS) face challenges from uncertainties and unknown dynamics.
  • Existing control methods may struggle with disturbances and chattering.

Purpose of the Study:

  • To develop a high-performance tracking control scheme for hydraulic manipulators.
  • To mitigate the effects of uncertainties and unknown dynamics in EHSS.
  • To achieve finite-time stabilization and chattering-free control.

Main Methods:

  • A third-order integral chain model is employed to represent system dynamics.
  • An extended state observer (ESO) estimates system uncertainties and disturbances.
  • A full-order terminal sliding-mode (TSM) manifold ensures finite-time stability.
  • Feedforward disturbance compensation and a composite reaching law with a low-pass filter are utilized.
  • Lyapunov stability analysis confirms system robustness.

Main Results:

  • The proposed ESO-CFTSM control scheme effectively handles lumped disturbances.
  • Simulations demonstrate superior trajectory tracking performance for hydraulic manipulators.
  • The control law avoids singularity issues by excluding fractional power derivatives.
  • Chattering is significantly reduced, leading to smoother control execution.

Conclusions:

  • The ESO-CFTSM control scheme offers a robust and effective solution for hydraulic manipulator trajectory tracking.
  • The method successfully addresses uncertainties and disturbances inherent in EHSS.
  • The proposed approach enhances control precision and system stability.