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Open AccessFeature PaperArticle

Adaptive Fuzzy Backstepping Sliding Mode Control for a 3-DOF Hydraulic Manipulator with Nonlinear Disturbance Observer for Large Payload Variation

1
Graduate School of Mechanical and Automotive Engineering, University of Ulsan, Daehakro 93, Nam-gu, Ulsan 44610, Korea
2
School of Mechanical and Automotive Engineering, University of Ulsan, Ulsan 44610, Korea
3
Korea Institute of Robots and Convergence, Pohang 37666, Korea
*
Author to whom correspondence should be addressed.
Appl. Sci. 2019, 9(16), 3290; https://doi.org/10.3390/app9163290
Received: 22 July 2019 / Revised: 7 August 2019 / Accepted: 8 August 2019 / Published: 11 August 2019
(This article belongs to the Special Issue The Application of Sliding Mode Control in Robots)

Abstract

The paper proposes an adaptive fuzzy position control for a 3-DOF hydraulic manipulator with large payload variation. The hydraulic manipulator uses electrohydraulic actuators as primary torque generators to enhance carrying payload of the manipulator. The proposed control combines backstepping sliding mode control, fuzzy logic system (FLS), and a nonlinear disturbance observer. The backstepping sliding mode control includes a sliding mode control for manipulator dynamics and a PI control for actuator dynamics. The fuzzy logic system is utilized to adjust the control gain and robust gain of the sliding mode control (SMC) based on the output of the nonlinear disturbance observer to compensate the payload. The Lyapunov approach and backstepping technique are used to prove the stability and robustness of the whole system. Some simulations are implemented, and the results are compared to other controllers to exhibit the effectiveness of the proposed control. View Full-Text
Keywords: fuzzy logic system; electro-hydraulic actuator; sliding mode control; backstepping technique; disturbance observer; manipulator fuzzy logic system; electro-hydraulic actuator; sliding mode control; backstepping technique; disturbance observer; manipulator
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).
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MDPI and ACS Style

Truong, H.V.A.; Tran, D.T.; To, X.D.; Ahn, K.K.; Jin, M. Adaptive Fuzzy Backstepping Sliding Mode Control for a 3-DOF Hydraulic Manipulator with Nonlinear Disturbance Observer for Large Payload Variation. Appl. Sci. 2019, 9, 3290.

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