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Parameter identification for improved performance of model-based control of hydraulic manipulators

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Details

Original languageEnglish
Title of host publicationProceedings of the IEEE 2019 9th International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM)
PublisherIEEE
Pages124-129
Number of pages6
ISBN (Electronic)978-1-7281-3458-1
ISBN (Print)978-1-7281-3459-8
DOIs
Publication statusPublished - 2019
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 → …

Publication series

NameIEEE International Conference on Cybernetics and Intelligent Systems
ISSN (Print)2326-8123
ISSN (Electronic)2326-8239

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 hydraulic manipulators’ complex and nonlinear dynamics, their dynamic behaviour typically also involve significant parameter uncertainties. This study aims to evaluate the performance of nonlinear model-based control of hydraulic manipulators, by comparing (i) a controller using model parameters acquired from manufacturer datasheets and computer-aided modeling tools, in relation to (ii) a controller exploiting parameter identification methods to estimate the model parameters from pressure transmitter and joint encoder data collected from the plant. Experimental results show that the proposed control scheme relying on the identified parameters results in significant improvement of Cartesian position tracking performance in free-space motion, in comparison to using the nominal parameters.

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