scholarly journals Model identification and parametric adaptive control of hydraulic manipulator with neighborhood field optimization

2021 ◽  
Author(s):  
Qing Guo ◽  
Zhenlei Chen ◽  
Yan Shi ◽  
Gan Liu
Keyword(s):  
Adaptive Control ◽  
Model Identification ◽  
Hydraulic Manipulator

Decentralized Adaptive Control of a Directly Driven Hydraulic Manipulator: Part 2: Experiment

1995 ◽  
Vol 209 (3) ◽  
pp. 197-205 ◽  
Author(s):  
F Gomes de Almeida ◽  
K A Edge
Keyword(s):  
Adaptive Control ◽  
Model Reference Adaptive Control ◽  
Model Reference ◽  
Model Following ◽  
Control Scheme ◽  
Series Of Experiments ◽  
Hydraulic Manipulator ◽  
Model Reference Adaptive ◽  
Decentralized Model ◽  
Adaptive Control Scheme

The implementation of a decentralized model reference adaptive control scheme for a two-axis robotic manipulator is described. It is shown, through an extensive series of experiments, that very good model-following performance and axis decoupling is achieved regardless of manipulator payload and working position.

scholarly journals Research on a Nonlinear Robust Adaptive Control Method of the Elbow Joint of a Seven-Function Hydraulic Manipulator Based on Double-Screw-Pair Transmission

2014 ◽  
Vol 2014 ◽  
pp. 1-11
Author(s):  
Gaosheng Luo ◽  
Jiawang Chen ◽  
Linyi Gu
Keyword(s):  
Adaptive Control ◽  
Elbow Joint ◽  
Control Method ◽  
Dynamic Performance ◽  
Robust Adaptive Control ◽  
Reference Trajectory ◽  
Parameter Uncertainties ◽  
External Disturbances ◽  
Hydraulic Manipulator ◽  
Robust Adaptive

A robust adaptive control method with full-state feedback is proposed based on the fact that the elbow joint of a seven-function hydraulic manipulator with double-screw-pair transmission features the following control characteristics: a strongly nonlinear hydraulic system, parameter uncertainties susceptible to temperature and pressure changes of the external environment, and unknown outer disturbances. Combined with the design method of the back-stepping controller, the asymptotic stability of the control system in the presence of disturbances from uncertain systematic parameters and unknown external disturbances was demonstrated using Lyapunov stability theory. Based on the elbow joint of the seven-function master-slave hydraulic manipulator for the 4500 m Deep-Sea Working System as the research subject, a comparative study was conducted using the control method presented in this paper for unknown external disturbances. Simulations and experiments of different unknown outer disturbances showed that (1) the proposed controller could robustly track the desired reference trajectory with satisfactory dynamic performance and steady accuracy and that (2) the modified parameter adaptive laws could also guarantee that the estimated parameters are bounded.

Sign in / Sign up

Export Citation Format

Share Document