Abstract
The hydraulic flexible manipulator system is divided into two parts: flexible arm dynamics and hydraulic servomechanism, a driving Jacobian is derived to connect these two parts. Taking hydraulic actuator force as virtual input, a singular perturbed composite model is formulated and used to design composite controllers for the flexible link, in which the slow subsystem controller dominates the trajectory tracking, and then a fast controller is designed to damp out the vibration of the flexible structure. Moreover, the backstepping technique is applied to regulate the spool position of a hydraulic valve to provide the required force. Simulation results are provided to show the effectiveness of the presented approach.
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Foundation item: Project (2001AA4422200) supported by the Teaching and Research Award Program for Outstanding Young Teachers in Higher Education Institutions of the Ministry of Education of China; project supported by the Hi-Tech Research and Development Program of China
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Li, G., Wu, M. Singular perturbation approach for control of hydraulically driven flexible manipulator. J Cent. South Univ. Technol. 12 (Suppl 1), 238–242 (2005). https://doi.org/10.1007/s11771-005-0406-1
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DOI: https://doi.org/10.1007/s11771-005-0406-1