TUTCRIS - Tampereen teknillinen yliopisto

TUTCRIS

Stability-Guaranteed Nonlinear Model-Based Control of Hydraulically Actuated Lightweight Structures

Tutkimustuotosvertaisarvioitu

Standard

Stability-Guaranteed Nonlinear Model-Based Control of Hydraulically Actuated Lightweight Structures. / Koivumäki, Janne; Mattila, Jouni; Semini, Claudio; Caldwell, Darwin G.

ASME/Bath 2017 Fluid Power and Motion Control, FPMC2017. Sarasota, Florida, USA : ASME, 2017. FPMC2017-4261.

Tutkimustuotosvertaisarvioitu

Harvard

Koivumäki, J, Mattila, J, Semini, C & Caldwell, DG 2017, Stability-Guaranteed Nonlinear Model-Based Control of Hydraulically Actuated Lightweight Structures. julkaisussa ASME/Bath 2017 Fluid Power and Motion Control, FPMC2017., FPMC2017-4261, ASME, Sarasota, Florida, USA, Iso-Britannia, 1/01/00. https://doi.org/10.1115/FPMC2017-4261

APA

Koivumäki, J., Mattila, J., Semini, C., & Caldwell, D. G. (2017). Stability-Guaranteed Nonlinear Model-Based Control of Hydraulically Actuated Lightweight Structures. teoksessa ASME/Bath 2017 Fluid Power and Motion Control, FPMC2017 [FPMC2017-4261] Sarasota, Florida, USA: ASME. https://doi.org/10.1115/FPMC2017-4261

Vancouver

Koivumäki J, Mattila J, Semini C, Caldwell DG. Stability-Guaranteed Nonlinear Model-Based Control of Hydraulically Actuated Lightweight Structures. julkaisussa ASME/Bath 2017 Fluid Power and Motion Control, FPMC2017. Sarasota, Florida, USA: ASME. 2017. FPMC2017-4261 https://doi.org/10.1115/FPMC2017-4261

Author

Koivumäki, Janne ; Mattila, Jouni ; Semini, Claudio ; Caldwell, Darwin G. / Stability-Guaranteed Nonlinear Model-Based Control of Hydraulically Actuated Lightweight Structures. ASME/Bath 2017 Fluid Power and Motion Control, FPMC2017. Sarasota, Florida, USA : ASME, 2017.

Bibtex - Lataa

@inproceedings{87018ed78eb24706997b50e8224403e5,
title = "Stability-Guaranteed Nonlinear Model-Based Control of Hydraulically Actuated Lightweight Structures",
abstract = "Hydraulic actuators benefit robotic systems as they can produce significant force/torque for their size and are robust. However, their dynamic behavior is highly nonlinear, making high-performance closed-loop control a challenging task. With articulated robotic systems, the associated nonlinear multibody dynamics make the control design task even more challenging.Nonlinear model-based (NMB) control methods can be used to address the system nonlinearities. Among NMB control methods, a number of state-of-the-art control performance improvements have been demonstrated for hydraulic manipulators using the virtual decomposition control (VDC) approach. However, all studies on hydraulic systems with VDC have focused on high-inertia and heavy-duty manipulators. In hydraulic cylinder actuated low-inertia and light-weight systems, highly uncertain and hard-to-model nonlinearities, such as actuator friction, can become very dominant in the system’s dynamic behaviour.This paper details the design of a VDC-based controller for a hydraulically actuated light-weight robotic leg. An adaptive friction compensation is incorporated in the control design. The stability of the designed controller is rigorously guaranteed. The experiments with the controller demonstrate a comparable free-space control performance in relation to the state-of-the-art controller for heavy-duty hydraulic manipulators",
author = "Janne Koivum{\"a}ki and Jouni Mattila and Claudio Semini and Caldwell, {Darwin G.}",
year = "2017",
month = "10",
doi = "10.1115/FPMC2017-4261",
language = "English",
booktitle = "ASME/Bath 2017 Fluid Power and Motion Control, FPMC2017",
publisher = "ASME",

}

RIS (suitable for import to EndNote) - Lataa

TY - GEN

T1 - Stability-Guaranteed Nonlinear Model-Based Control of Hydraulically Actuated Lightweight Structures

AU - Koivumäki, Janne

AU - Mattila, Jouni

AU - Semini, Claudio

AU - Caldwell, Darwin G.

PY - 2017/10

Y1 - 2017/10

N2 - Hydraulic actuators benefit robotic systems as they can produce significant force/torque for their size and are robust. However, their dynamic behavior is highly nonlinear, making high-performance closed-loop control a challenging task. With articulated robotic systems, the associated nonlinear multibody dynamics make the control design task even more challenging.Nonlinear model-based (NMB) control methods can be used to address the system nonlinearities. Among NMB control methods, a number of state-of-the-art control performance improvements have been demonstrated for hydraulic manipulators using the virtual decomposition control (VDC) approach. However, all studies on hydraulic systems with VDC have focused on high-inertia and heavy-duty manipulators. In hydraulic cylinder actuated low-inertia and light-weight systems, highly uncertain and hard-to-model nonlinearities, such as actuator friction, can become very dominant in the system’s dynamic behaviour.This paper details the design of a VDC-based controller for a hydraulically actuated light-weight robotic leg. An adaptive friction compensation is incorporated in the control design. The stability of the designed controller is rigorously guaranteed. The experiments with the controller demonstrate a comparable free-space control performance in relation to the state-of-the-art controller for heavy-duty hydraulic manipulators

AB - Hydraulic actuators benefit robotic systems as they can produce significant force/torque for their size and are robust. However, their dynamic behavior is highly nonlinear, making high-performance closed-loop control a challenging task. With articulated robotic systems, the associated nonlinear multibody dynamics make the control design task even more challenging.Nonlinear model-based (NMB) control methods can be used to address the system nonlinearities. Among NMB control methods, a number of state-of-the-art control performance improvements have been demonstrated for hydraulic manipulators using the virtual decomposition control (VDC) approach. However, all studies on hydraulic systems with VDC have focused on high-inertia and heavy-duty manipulators. In hydraulic cylinder actuated low-inertia and light-weight systems, highly uncertain and hard-to-model nonlinearities, such as actuator friction, can become very dominant in the system’s dynamic behaviour.This paper details the design of a VDC-based controller for a hydraulically actuated light-weight robotic leg. An adaptive friction compensation is incorporated in the control design. The stability of the designed controller is rigorously guaranteed. The experiments with the controller demonstrate a comparable free-space control performance in relation to the state-of-the-art controller for heavy-duty hydraulic manipulators

U2 - 10.1115/FPMC2017-4261

DO - 10.1115/FPMC2017-4261

M3 - Conference contribution

BT - ASME/Bath 2017 Fluid Power and Motion Control, FPMC2017

PB - ASME

CY - Sarasota, Florida, USA

ER -