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State-dependent system identification for control of a hydraulically-actuated nuclear decommissioning robot

Robertson, David and Taylor, C. James and Lokuciewski, Chris (2012) State-dependent system identification for control of a hydraulically-actuated nuclear decommissioning robot. In: 16th IFAC Symposium on System Identification. IFAC, Brussels.

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Abstract

This article considers the identification of state-dependent parameter~(SDP) models for the hydraulically actuated dual-manipulators of a mobile robot used for nuclear decommissioning tasks. A unified framework for calibration, data collection and system identification is developed, and utilized to investigate potential state-dependencies. The latter are associated with nonlinear system dynamics and can cause irregular joint movements when the device is controlled using linear control algorithms. The analysis suggests that a univariate SDP model is suitable for control design. The model has a state-dependent gain, characterized directly from experimental data using a numerically optimized polynomial function of the delayed input variable. In order to demonstrate the practical utility of the SDP model, closed-loop results using a novel non-minimal regulator for joint control are briefly considered.

Item Type: Contribution in Book/Report/Proceedings
Uncontrolled Keywords: identification ; state-dependent parameter ; robotics ; non-minimal state space
Subjects: T Technology > TA Engineering (General). Civil engineering (General)
Departments: Faculty of Science and Technology > Engineering
ID Code: 58615
Deposited By: ep_importer_pure
Deposited On: 26 Sep 2012 09:18
Refereed?: No
Published?: Published
Last Modified: 01 Apr 2014 14:14
Identification Number:
URI: http://eprints.lancs.ac.uk/id/eprint/58615

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