Adaptive Sliding Mode Control for Hydraulic Flexible Manipulator Based on Two-Parameter Singular Perturbation Method

This paper is concerned with the mathematical modeling and the application of a new position tracking control technique for a three-link hydraulic flexible manipulator. Considering the complexity of the dynamic model, and Based on two-parameter singular perturbation theory, it is divided into a fast subsystem driven by hydraulic servo, a secondary slow subsystem describing the large rigid motion and a secondary fast subsystem expressing the elastic vibration. A cooperative controller is given to control of rigid body motion and vibration suppression by adaptive sliding mode control and optimal control, respectively. Finally, the numerical simulation results demonstrate the effectiveness of the proposed method.