Control of a Hydraulically Driven Flexible Manipulator Using Sliding Mode

Abstract

A class of multi-link, structurally flexible and hydraulically powered manipulators are considered for an application of using sliding mode control to track a trajectory of end-tip. Due to the particularity of dynamic model of system and for the purpose of control synthesis, it is required to a modification mapping from the generalized coordinate to the task space, and position of end tip is defined as output of system for the tracking target in the task space. The control based on the model is developed to exploit the full potential of flexible hydraulic manipulator. In the paper, the control performance is demonstrated by simulation on PATU 655 log crane, that is a three flexible links manipulator with the actuation of the lift and jib hydraulic servo systems in the presence of considerable uncertainty.