State-dependent control of a hydraulically-actuated nuclear decommissioning robot

Taylor, C. James and Robertson, David (2013) State-dependent control of a hydraulically-actuated nuclear decommissioning robot. Control Engineering Practice, 21 (12). pp. 1716-1725. ISSN 0967-0661

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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 and SDP model identification is proposed, in which the state-dependent variable is a delayed voltage input associated with the time-varying system gain. Such nonlinearities can cause undesirable joint movements under automatic control. Hence, the present article develops a nonlinear pole assignment algorithm for the SDP model. Closed-loop experimental data shows that the SDP design more closely follows the joint angle commands than an equivalent linear algorithm, offering improved resolved motion.

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Journal Article
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Control Engineering Practice
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04 Oct 2013 10:31
Last Modified:
22 Nov 2022 00:18