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 1660-9336

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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:
Journal Article
Journal or Publication Title:
Applied Mechanics and Materials
Uncontrolled Keywords:
/dk/atira/pure/researchoutput/libraryofcongress/ta
Subjects:
ID Code:
59373
Deposited By:
Deposited On:
22 Oct 2012 08:59
Refereed?:
Yes
Published?:
Published
Last Modified:
11 Mar 2020 03:40