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State-dependent control of a hydraulically-actuated nuclear decommissioning robot

Robertson, David and Taylor, C. James (2012) State-dependent control of a hydraulically-actuated nuclear decommissioning robot. In: 2012 UKACC International Conference on Control, 2012-09-032012-09-05, Cardiff.

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Abstract

This article develops and evaluates state-dependent parameter~(SDP) control systems for the hydraulically actuated dual-manipulators of a mobile nuclear decommissioning robot. A unified framework for calibration, data collection and SDP model identification is proposed, in which the state-dependent variable is a delayed voltage signal associated with the time-varying gain of the system. The latter can cause undesirable joint movements when the device is regulated using linear control algorithms. By contrast, the present article develops a novel nonlinear pole assignment algorithm based on the SDP model. Closed-loop experimental data shows that the SDP design more closely follows the joint angle commands than the equivalent linear algorithm, offering improved resolved motion.

Item Type: Conference or Workshop Item (Paper)
Journal or Publication Title: 2012 UKACC International Conference on Control
Subjects: T Technology > TA Engineering (General). Civil engineering (General)
Departments: Faculty of Science and Technology > Engineering
ID Code: 58623
Deposited By: ep_importer_pure
Deposited On: 26 Sep 2012 09:23
Refereed?: Yes
Published?: Published
Last Modified: 01 Apr 2014 14:16
Identification Number:
URI: http://eprints.lancs.ac.uk/id/eprint/58623

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