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

Research output: Contribution to journalJournal article


<mark>Journal publication date</mark>12/2013
<mark>Journal</mark>Control Engineering Practice
Issue number12
Number of pages10
Pages (from-to)1716-1725
Early online date26/09/13
<mark>Original language</mark>English


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.