Finite-Time Sliding Mode Control of Uncertain Hydraulic Manipulator via High-Order Fully Actuated System Approach

This paper presents a high-order fully actuated system (HOFAS) based trajectory tracking control technique of the uncertain hydraulic manipulator. The dynamic model of the servo-valve actuated hydraulic manipulator was established, and was transformed into the HOFAS model. Then the integral sliding mode function was designed for the HOFAS, and the trajectory tracking error would converge to the origin in finite-time. To hand disturbances in the HOFAS with the unknown upper bound and the derivative, the unknown disturbance estimator (UDE) and adaptive algorithm were designed to simultaneously suppress unknown disturbances. Besides, the convergence of the proposed controller was proved. At last, simulation studies were carried out to validate the feasibility and effectiveness of the proposed controller.