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.Full text not available from this repository.
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|
|Deposited On:||26 Sep 2012 09:23|
|Last Modified:||03 Nov 2015 22:47|
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