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State-dependent control of a hydraulically-actuated nuclear decommissioning robot

Research output: Contribution to journalJournal article

Published

Journal publication date12/2013
JournalControl Engineering Practice
Journal number12
Volume21
Number of pages10
Pages1716-1725
Early online date26/09/13
Original languageEnglish

Abstract

This article develops and evaluates state-dependent parameter (SDP) control systems for the hydraulically actuated dual-manipulators of a mobile nuclear decommissioning robot. A unified framework for calibration and SDP model identification is proposed, in which the state-dependent variable is a delayed voltage input associated with the time-varying system gain. Such nonlinearities can cause undesirable joint movements under automatic control. Hence, the present article develops a nonlinear pole assignment algorithm for the SDP model. Closed-loop experimental data shows that the SDP design more closely follows the joint angle commands than an equivalent linear algorithm, offering improved resolved motion.