Research output: Contribution to Journal/Magazine › Journal article › peer-review
Research output: Contribution to Journal/Magazine › Journal article › peer-review
}
TY - JOUR
T1 - Proportional-integral-plus control of robotic excavator arm utilising state-dependent parameter model
AU - Gu, Jun
AU - Feng, Zhi-hua
AU - Ma, Xiandong
AU - Ni, Jun-fang
PY - 2011
Y1 - 2011
N2 - This paper is concerned with the design of a control system for a robotic excavator known as the Lancaster University Computerised and Intelligent Excavator (LUCIE). A nonlinear proportional-integral-plus (PIP) control algorithm is developed for regulating movement of excavator arm. The nonlinear dynamics of the hydraulic driven arm is represented using the quasi-linear state-dependent parameter (SDP) model, in which the parameters are functionally dependent on other variables in the system. The model is subsequently utilised to develop a new approach to control system design, based on nonlinear PIP pole assignment. Implementation results demonstrate improved tracking performance of excavator arm in comparison with both linear proportional-integral-derivative (PID) and conventional (linearised) fixed-gain PIP control.
AB - This paper is concerned with the design of a control system for a robotic excavator known as the Lancaster University Computerised and Intelligent Excavator (LUCIE). A nonlinear proportional-integral-plus (PIP) control algorithm is developed for regulating movement of excavator arm. The nonlinear dynamics of the hydraulic driven arm is represented using the quasi-linear state-dependent parameter (SDP) model, in which the parameters are functionally dependent on other variables in the system. The model is subsequently utilised to develop a new approach to control system design, based on nonlinear PIP pole assignment. Implementation results demonstrate improved tracking performance of excavator arm in comparison with both linear proportional-integral-derivative (PID) and conventional (linearised) fixed-gain PIP control.
KW - State-dependent parameter
KW - nonlinear dynamics
KW - proportional-integral-derivative
KW - robotic excavator
U2 - 10.4028/www.scientific.net/AMM.48-49.1323
DO - 10.4028/www.scientific.net/AMM.48-49.1323
M3 - Journal article
VL - 48-49
SP - 1323
EP - 1327
JO - Applied Mechanics and Materials
JF - Applied Mechanics and Materials
SN - 1660-9336
ER -