Posture Control of Hydraulic Flexible Second-Order Manipulators Based on Adaptive Integral Terminal Variable-Structure Predictive Method
As operational scenarios become more complex and task demands intensify, the requirements for the intelligence and automation of manipulators in industry are increasing. This work investigates the challenge of posture tracking control for hydraulic flexible manipulators by proposing a discrete-time...
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MDPI AG
2025-02-01
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| author | Jianliang Xu Zhen Sui Feng Xu |
| author_facet | Jianliang Xu Zhen Sui Feng Xu |
| author_sort | Jianliang Xu |
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| description | As operational scenarios become more complex and task demands intensify, the requirements for the intelligence and automation of manipulators in industry are increasing. This work investigates the challenge of posture tracking control for hydraulic flexible manipulators by proposing a discrete-time integral terminal sliding mode predictive control (DITSMPC) method. First, the proposed method develops a second-order dynamic model of the manipulator using the Lagrangian dynamic strategy. Second, a discrete-time sliding mode control (SMC) law based on an adaptive switching term is designed to achieve high-precision tracking control of the system. Finally, to weaken the influence of SMC buffeting on the manipulator system, the predictive time domain function is integrated into the proposed SMC law, and the delay estimation of the unknown term in the manipulator system is carried out. The DITSMPC scheme is derived and its convergence is proven. Simulation experiments comparing the DITSMPC scheme with the classical discrete-time SMC method demonstrate that the proposed scheme results in smooth torque changes in each joint of the manipulator, with the integral of torque variations being <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><mn>5.22</mn><mo>×</mo><msup><mrow><mn>10</mn></mrow><mn>3</mn></msup></mrow></semantics></math></inline-formula>. The trajectory tracking errors for each joint remain within ±0.0025 rad, all of which are smaller than those of the classical scheme. |
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| language | English |
| publishDate | 2025-02-01 |
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| spelling | doaj-art-ecadbbda2db44dc2a7fb0ce9146fea6f2025-08-20T02:53:23ZengMDPI AGSensors1424-82202025-02-01255135110.3390/s25051351Posture Control of Hydraulic Flexible Second-Order Manipulators Based on Adaptive Integral Terminal Variable-Structure Predictive MethodJianliang Xu0Zhen Sui1Feng Xu2School of Mechanical and Electrical Engineering, Quzhou College of Technology, Quzhou 324000, ChinaCollege of Communication Engineering, Jilin University, Changchun 130022, ChinaSchool of Mechanical and Electrical Engineering, Quzhou College of Technology, Quzhou 324000, ChinaAs operational scenarios become more complex and task demands intensify, the requirements for the intelligence and automation of manipulators in industry are increasing. This work investigates the challenge of posture tracking control for hydraulic flexible manipulators by proposing a discrete-time integral terminal sliding mode predictive control (DITSMPC) method. First, the proposed method develops a second-order dynamic model of the manipulator using the Lagrangian dynamic strategy. Second, a discrete-time sliding mode control (SMC) law based on an adaptive switching term is designed to achieve high-precision tracking control of the system. Finally, to weaken the influence of SMC buffeting on the manipulator system, the predictive time domain function is integrated into the proposed SMC law, and the delay estimation of the unknown term in the manipulator system is carried out. The DITSMPC scheme is derived and its convergence is proven. Simulation experiments comparing the DITSMPC scheme with the classical discrete-time SMC method demonstrate that the proposed scheme results in smooth torque changes in each joint of the manipulator, with the integral of torque variations being <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><mn>5.22</mn><mo>×</mo><msup><mrow><mn>10</mn></mrow><mn>3</mn></msup></mrow></semantics></math></inline-formula>. The trajectory tracking errors for each joint remain within ±0.0025 rad, all of which are smaller than those of the classical scheme.https://www.mdpi.com/1424-8220/25/5/1351manipulatorsliding mode controlpredictive controlposture trajectory trackingdisturbance compensationmulti-input multi-output system |
| spellingShingle | Jianliang Xu Zhen Sui Feng Xu Posture Control of Hydraulic Flexible Second-Order Manipulators Based on Adaptive Integral Terminal Variable-Structure Predictive Method Sensors manipulator sliding mode control predictive control posture trajectory tracking disturbance compensation multi-input multi-output system |
| title | Posture Control of Hydraulic Flexible Second-Order Manipulators Based on Adaptive Integral Terminal Variable-Structure Predictive Method |
| title_full | Posture Control of Hydraulic Flexible Second-Order Manipulators Based on Adaptive Integral Terminal Variable-Structure Predictive Method |
| title_fullStr | Posture Control of Hydraulic Flexible Second-Order Manipulators Based on Adaptive Integral Terminal Variable-Structure Predictive Method |
| title_full_unstemmed | Posture Control of Hydraulic Flexible Second-Order Manipulators Based on Adaptive Integral Terminal Variable-Structure Predictive Method |
| title_short | Posture Control of Hydraulic Flexible Second-Order Manipulators Based on Adaptive Integral Terminal Variable-Structure Predictive Method |
| title_sort | posture control of hydraulic flexible second order manipulators based on adaptive integral terminal variable structure predictive method |
| topic | manipulator sliding mode control predictive control posture trajectory tracking disturbance compensation multi-input multi-output system |
| url | https://www.mdpi.com/1424-8220/25/5/1351 |
| work_keys_str_mv | AT jianliangxu posturecontrolofhydraulicflexiblesecondordermanipulatorsbasedonadaptiveintegralterminalvariablestructurepredictivemethod AT zhensui posturecontrolofhydraulicflexiblesecondordermanipulatorsbasedonadaptiveintegralterminalvariablestructurepredictivemethod AT fengxu posturecontrolofhydraulicflexiblesecondordermanipulatorsbasedonadaptiveintegralterminalvariablestructurepredictivemethod |