A sliding mode control method is adapted to the trajectory tracking and positioning control of a heavy-duty hydraulic manipulator in this article, which shows high performance with the drive of hydraulic proportional valve. The dynamic model of the system is established, the complexity of which is reduced based on the singular perturbation theory to simplify the analysis and the online calculation of the control variable. The extended state observer is developed in the control loop to estimate the real-time disturbances including the parameter uncertainties and load changes of the system. The integral sliding mode control law is designed combining the extended state observer, and the stability of the system is proved theoretically. The experimental results on a heavy-duty hydraulic manipulator show that the proposed control method has high dynamic tracking performance and positioning accuracy, and the proposed extended state observer can effectively resist disturbances.
Extended state observer–based intelligent double integral sliding mode control of electronic throttle valve
