Decentralized sliding mode control for an electrohydraulic robot manipulator

This thesis is concerned with the problems of modelling and controlling of a 3 DOF electrohydraulic robot manipulators. The control of electrohydraulic robot manipulator is challenging due to the dependence of system parameters on variables such as displacement and velocity, on the geometry and iner...

Full description

Saved in:

Bibliographic Details
Main Author:	Ishak, Haszuraidah
Format:	Thesis
Language:	English
Published:	2007
Subjects:	TK Electrical engineering Electronics Nuclear engineering
Online Access:	http://eprints.utm.my/id/eprint/5962/1/HaszuraidahIshakMFKE2007.pdf
Tags:	Add Tag No Tags, Be the first to tag this record!

id	my-utm-ep.5962
record_format	uketd_dc
spelling	my-utm-ep.59622018-10-14T07:19:42Z Decentralized sliding mode control for an electrohydraulic robot manipulator 2007-05 Ishak, Haszuraidah TK Electrical engineering. Electronics Nuclear engineering This thesis is concerned with the problems of modelling and controlling of a 3 DOF electrohydraulic robot manipulators. The control of electrohydraulic robot manipulator is challenging due to the dependence of system parameters on variables such as displacement and velocity, on the geometry and inertia of the links, uncertainties associated with gravity, coriolis and centrifugal forces, variations in payload handled by the manipulator, and environmental influences. To overcome these problems, an integrated mathematical model of the 3 DOF electrohydraulic robot manipulators is treated as a large-scale uncertain system models using the known parameters of the robot. Decentralized control concept is used in this study where the uncertain system is treated as large-scale system which composed of a set of interconnected uncertain subsystems. A variable structure control (VSC) strategy is utilized to overcome the inherent high nonlinearity in the system dynamics under decentralized and centralized frameworks. In each of the approach, a variant of the VSC known as the Sliding Mode Control (SMC) is adopted to ensure the stability of the system dynamics during the sliding phase and to render that the system insensitive to the parametric variations and disturbances. The performance and robustness of the proposed controller is evaluated through computer simulation by using Matlab and Simulink. The results proved that the controller has successfully provided the necessary tracking control for the 3 DOF electrohydraulically driven robot manipulator system. 2007-05 Thesis http://eprints.utm.my/id/eprint/5962/ http://eprints.utm.my/id/eprint/5962/1/HaszuraidahIshakMFKE2007.pdf application/pdf en public http://dms.library.utm.my:8080/vital/access/manager/Repository/vital:62175 masters Universiti Teknologi Malaysia, Faculty of Electrical Engineering Faculty of Electrical Engineering
institution	Universiti Teknologi Malaysia
collection	UTM Institutional Repository
language	English
topic	TK Electrical engineering Electronics Nuclear engineering
spellingShingle	TK Electrical engineering Electronics Nuclear engineering Ishak, Haszuraidah Decentralized sliding mode control for an electrohydraulic robot manipulator
description	This thesis is concerned with the problems of modelling and controlling of a 3 DOF electrohydraulic robot manipulators. The control of electrohydraulic robot manipulator is challenging due to the dependence of system parameters on variables such as displacement and velocity, on the geometry and inertia of the links, uncertainties associated with gravity, coriolis and centrifugal forces, variations in payload handled by the manipulator, and environmental influences. To overcome these problems, an integrated mathematical model of the 3 DOF electrohydraulic robot manipulators is treated as a large-scale uncertain system models using the known parameters of the robot. Decentralized control concept is used in this study where the uncertain system is treated as large-scale system which composed of a set of interconnected uncertain subsystems. A variable structure control (VSC) strategy is utilized to overcome the inherent high nonlinearity in the system dynamics under decentralized and centralized frameworks. In each of the approach, a variant of the VSC known as the Sliding Mode Control (SMC) is adopted to ensure the stability of the system dynamics during the sliding phase and to render that the system insensitive to the parametric variations and disturbances. The performance and robustness of the proposed controller is evaluated through computer simulation by using Matlab and Simulink. The results proved that the controller has successfully provided the necessary tracking control for the 3 DOF electrohydraulically driven robot manipulator system.
format	Thesis
qualification_level	Master's degree
author	Ishak, Haszuraidah
author_facet	Ishak, Haszuraidah
author_sort	Ishak, Haszuraidah
title	Decentralized sliding mode control for an electrohydraulic robot manipulator
title_short	Decentralized sliding mode control for an electrohydraulic robot manipulator
title_full	Decentralized sliding mode control for an electrohydraulic robot manipulator
title_fullStr	Decentralized sliding mode control for an electrohydraulic robot manipulator
title_full_unstemmed	Decentralized sliding mode control for an electrohydraulic robot manipulator
title_sort	decentralized sliding mode control for an electrohydraulic robot manipulator
granting_institution	Universiti Teknologi Malaysia, Faculty of Electrical Engineering
granting_department	Faculty of Electrical Engineering
publishDate	2007
url	http://eprints.utm.my/id/eprint/5962/1/HaszuraidahIshakMFKE2007.pdf
_version_	1747814617133875200

Decentralized sliding mode control for an electrohydraulic robot manipulator

Similar Items