中南大学学报（英文版）
中南大學學報（英文版）
중남대학학보（영문판）
Journal of Central South University
2015年
12期
4616-4624
,共9页
王尧尧%陈家旺%顾临怡%李晓东
王堯堯%陳傢旺%顧臨怡%李曉東
왕요요%진가왕%고림이%리효동
time delay control%terminal sliding mode%model-free%hydraulic manipulators
For the position tracking control of hydraulic manipulators, a novel method of time delay control (TDC) with continuous nonsingular terminal sliding mode (CNTSM) was proposed in this work. Complex dynamics of the hydraulic manipulator is approximately canceled by time delay estimation (TDE), which means the proposed method is model-free and no prior knowledge of the dynamics is required. Moreover, the CNTSM term with a fast-TSM-type reaching law ensures fast convergence and high-precision tracking control performance under heavy lumped uncertainties. Despite its considerable robustness against lumped uncertainties, the proposed control scheme is continuous and chattering-free and no pressure sensors are required in practical applications. Theoretical analysis and experimental results show that faster and higher-precision position tracking performance is achieved compared with the traditional CNTSM-based TDC method using boundary layers.
