Adaptive Fuzzy Backstepping Sliding Mode Control for a 3-DOF Hydraulic Manipulator with Nonlinear Disturbance Observer for Large Payload Variation

Adaptive Fuzzy Backstepping Sliding Mode Control for a 3-DOF Hydraulic Manipulator with Nonlinear Disturbance Observer for Large Payload Variation

The paper proposes an adaptive fuzzy position control for a 3-DOF hydraulic manipulator with large payload variation. The hydraulic manipulator uses electrohydraulic actuators as primary torque generators to enhance carrying payload of the manipulator. The proposed control combines backstepping slid...

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Bibliographic Details
Main Authors: Hoai Vu Anh Truong, Duc Thien Tran, Xuan Dinh To, Kyoung Kwan Ahn, Maolin Jin
Format: Article
Language:English
Published: MDPI AG 2019-08-01
Series:Applied Sciences
Subjects:
fuzzy logic system
electro-hydraulic actuator
sliding mode control
backstepping technique
disturbance observer
manipulator
Online Access:https://www.mdpi.com/2076-3417/9/16/3290

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https://www.mdpi.com/2076-3417/9/16/3290

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