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 1660-9336Full text not available from this repository.
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.
|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|
|Deposited On:||22 Oct 2012 09:59|
|Last Modified:||11 Dec 2016 03:58|
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