Robertson, David and Taylor, 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.
Full text not available from this repository.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?: | No |
| Published?: | Published |
| Last Modified: | 26 Sep 2012 09:23 |
| Identification Number: | |
| URI: | http://eprints.lancs.ac.uk/id/eprint/58623 |
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