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Adaptive Backlash Inverse Augmented Virtual Decomposition Control of a Hydraulic Manipulator

Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review

Details

Original languageEnglish
Title of host publicationIEEE International Conference on Cybernetics and Intelligent Systems, and Robotics, Automation and Mechatronics
PublisherIEEE
Pages322-327
Number of pages6
ISBN (Print)978-1-5386-3135-5
DOIs
Publication statusPublished - 20 Nov 2017
Publication typeA4 Article in a conference publication
EventIEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM) -
Duration: 1 Jan 2000 → …

Conference

ConferenceIEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM)
Abbreviated titleCIS-RAM
Period1/01/00 → …

Abstract

In addition to the inherent strong nonlinearities associated with hydraulic systems, the use of mechanical drives (gears) in hydraulic applications (e.g., in hydraulic rotary actuators) introduces additional nonlinearities in the form of backlash. Thus, confronting these traditional hydraulic nonlinearities as well as the non-smooth backlash nonlinearity requires special considerations. This work designs a virtual decomposition control (VDC) controller, a subsytems-based nonlinear model-based controller, to combat the heavy hydraulic non-linearities in a hydraulic manipulator and effectively control it. For the first time, a VDC controller is designed to compensate for a non-smooth nonlinearity (backlash), which has never been modelled in the dynamic equations of all existing VDC works. While it is not presented herein, stability of the resulting controller can be mathematically proven based on the L2 and L∞ Lebesgue spaces. Obtained experimental results indicated the capability of the combined VDC algorithm and the adaptive backlash inverse scheme improves system’s position tracking performance compared to traditional Proportional-Integral-Derivative (PID) controller.

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