Trajectory Control for Cartesian Pneumatic Manipulator Using the Terminal Sliding Mode Control Method

Shi Ying Qiu; Peng Yi; Rui Bo Yuan; Huan Yang; Sen Hui; Rong Ping Xue

doi:10.4028/www.scientific.net/AMM.444-445.1354

Paper Titles

Numerical Investigation of Bumps and Oscillation in the Cylindrical Membrane Inflation
p.1335

The Basic Dynamics Study of Flip-Flow Screen and Particles Based on MATLAB
p.1340

Numerical Study on the Plasma Generated by Different Discharge Modes at the Upstream of Fuel Jet in Scramjet Combustor
p.1345

Study on the Resistance Loss Model of Slurry Pipeline for Iron Ore Concentrate with High Concentration
p.1350

Trajectory Control for Cartesian Pneumatic Manipulator Using the Terminal Sliding Mode Control Method
p.1354

Numerical Solution for Weight Function of Electromagnetic Flowmeter Using Finite Element Method
p.1360

Molecular Dynamics Approach and its Application in the Analysis of Multi-Scale
p.1364

The Recent Developments of Molecular Dynamics Simulation
p.1370

Research on Kinematics Simulation of Turning Conveyor Based on ADAMS
p.1374

HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 444-445Trajectory Control for Cartesian Pneumatic...

Trajectory Control for Cartesian Pneumatic Manipulator Using the Terminal Sliding Mode Control Method

Abstract:

This paper applies the terminal sliding mode control method to control the trajectory of a three axises Cartesian Pneumatic Manipulator. A mathematical model of the pneumatic servo control system was established at first, then the terminal sliding mode control method was used for trajectory control. The simulation results shows that the tracking error of the terminal sliding mode control method become large only in the time period of not fully reaching the convergence point in time when the manipulator tracks the space straight line, whereas it can fully track the target trajectory after reaching the convergence point.

You might also be interested in these eBooks

Advances in Computational Modeling and Simulation

View Preview

Info:

Periodical:

Applied Mechanics and Materials (Volumes 444-445)

Pages:

1354-1359

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.444-445.1354

Citation:

Cite this paper

Online since:

October 2013

Authors:

Shi Ying Qiu, Peng Yi, Rui Bo Yuan, Huan Yang, Sen Hui, Rong Ping Xue

Keywords:

Cartesian-Coordinate Manipulator, Terminal Sliding Mode, Trajectory Tracking Control

Export:

RIS, BibTeX

Price:

Permissions CCC:

Request Permissions

Permissions PLS:

Request Permissions

Сopyright:

Citation:

References

[1] Y.F. Liu, B.W. Chen, D. Miu, R.P. Yuan and X.G. Yang. Sliding Mode Variable Structure Control with Strong Robustness. Information and Control, 2008, 37(2), pp.140-145.

Google Scholar

[2] Z.H. Man, X.H. Yu. Fast Terminal Sliding mode Control Design for Nonlinear Dynamical Systems. IEEE Trans on circuits and systems-I: fundamental theory and applications, 2002, 49(2), pp.261-264.

DOI: 10.1109/81.983876

Google Scholar

[3] Y. Feng, X.H. Yu and Z.H. Man. Non-singular terminal sliding mode control of rigid manipulators. Automatica, 2002, 38(2), pp.2159-2167.

DOI: 10.1016/s0005-1098(02)00147-4

Google Scholar

[4] Z.H. Man, X.H. Yu. Terminal Sliding mode Control of MIMO Linear Systems. IEEE Trans on circuits and systems-I: fundamental theory and applications, 1997, 44(11), pp.1065-1070.

DOI: 10.1109/81.641769

Google Scholar

[5] H.S. Zheng. Pneumatic transmission and control(China Machine Press, China 1988).

Google Scholar

[6] K.Y. Zhuang, K.Q. Zhang, H.Y. Su, J. Zhu. Terminal sliding mode control for high-order nonlinear dynamic systems. Journal of Zhejiang University(Engineering Science), 2002, 36(5), pp.482-485.

DOI: 10.1631/jzus.2003.0058

Google Scholar