Gu, Jun and Feng, Zhi-hua and Ma, Xiandong and Ni, Jun-fang (2011) Proportional-integral-plus control of robotic excavator arm utilising state-dependent parameter model. Applied Mechanics and Materials, 48-49. pp. 1323-1327. ISSN 16627482
Full text not available from this repository.Abstract
This paper is concerned with the design of a control system for a robotic excavator known as the Lancaster University Computerised and Intelligent Excavator (LUCIE). A nonlinear proportional-integral-plus (PIP) control algorithm is developed for regulating movement of excavator arm. The nonlinear dynamics of the hydraulic driven arm is represented using the quasi-linear state-dependent parameter (SDP) model, in which the parameters are functionally dependent on other variables in the system. The model is subsequently utilised to develop a new approach to control system design, based on nonlinear PIP pole assignment. Implementation results demonstrate improved tracking performance of excavator arm in comparison with both linear proportional-integral-derivative (PID) and conventional (linearised) fixed-gain PIP control.
| Item Type: | Article |
|---|---|
| Journal or Publication Title: | Applied Mechanics and Materials |
| Uncontrolled Keywords: | State-dependent parameter ; nonlinear dynamics ; proportional-integral-derivative ; robotic excavator |
| Subjects: | T Technology > TA Engineering (General). Civil engineering (General) |
| Departments: | Faculty of Science and Technology > Engineering |
| ID Code: | 59373 |
| Deposited By: | ep_importer_pure |
| Deposited On: | 22 Oct 2012 09:59 |
| Refereed?: | Yes |
| Published?: | Published |
| Last Modified: | 22 Oct 2012 09:59 |
| Identification Number: | |
| URI: | http://eprints.lancs.ac.uk/id/eprint/59373 |
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