We have over 12,000 students, from over 100 countries, within one of the safest campuses in the UK


93% of Lancaster students go into work or further study within six months of graduating

Home > Research > Publications & Outputs > State dependent control of a robotic manipulato...
View graph of relations

« Back

State dependent control of a robotic manipulator used for nuclear decommissioning activities.

Research output: Contribution in Book/Report/ProceedingsConference contribution


Publication date10/2010
Host publicationIEEE RSJ International Conference on Intelligent Robots and Systems IROS 2010
Place of publicationTaipei, Taiwan
Number of pages6
Original languageEnglish


This article considers pole assignment control of nonlinear dynamic systems described by State Dependent Parameter (SDP) models, with a particular focus on a Brokk-40 mobile robot and Hydro-Lek HLK-7W two-arm manipulator used for nuclear decommissioning tasks. The UK nuclear legacy comprises a number of facilities that are significantly contaminated by radioactivity and non-radiological toxins. Here, the use of remote and teleoperated robotic solutions provide an invaluable option for the safe retrieval and disposal of contaminated materials. Since the behaviour of hydraulically-driven manipulators is dominated by the nonlinear, lightly-damped dynamics of the actuators, existing systems can suffer from a relatively slow and imprecise control action. For this reason, the research utilises a non-minimal state variable feedback approach to control system design, in which the control gains are updated at each sampling instant.