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		Guang Li,Khajepour Amir.[en_title][J].Control Theory and Technology,2004,2(1):99~101.[Copy]

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GuangLi,KhajepourAmir
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Received:October 10, 2002Revised:July 04, 2003

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Robust control of a hydraulically driven flexible arm

Guang Li,Khajepour Amir

(Department of Mechanical Engineering, Zhuzhou Institute of Technology, 412008 Zhuzhou Hunan, China;Department of Mechanical Engineering, University of Waterloo, Waterloo, Ont., Canada)

Abstract:

A new robust controller is proposed to regulate both flexural vibrations and rigid body motion of a hydraulically driven flexible arm. The controller combines backstepping control and sliding mode to arrive at a controller capable of dealing with a nonlinear system with uncertainties. The sliding mode technique is used to achieve an asymptotic joint angle and vibration regulation in the presence of payload uncertainty by providing a virtual torque input at the joint while the backstepping technique is used to regulate the spool position of a hydraulic valve to provide the required torque. It is shown that there is no chatter in the hydraulic valve, which results in smoother operation of the system.

Key words: Sliding mode control Backstepping control Hydraulic valve Flexible arm