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Proportional-integral-plus control of robotic excavator arm utilising state-dependent parameter model

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

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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: 24 Jan 2014 05:33
Identification Number:
URI: http://eprints.lancs.ac.uk/id/eprint/59373

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