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

Research output: Contribution to conferenceConference paper


Publication date2012
Number of pages6
<mark>Original language</mark>English


Conference2012 UKACC International Conference on Control
CountryUnited Kingdom


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, data collection and SDP model identification is proposed, in which the state-dependent variable is a delayed voltage signal associated with the time-varying gain of the system. The latter can cause undesirable joint movements when the device is regulated using linear control algorithms. By contrast, the present article develops a novel nonlinear pole assignment algorithm based on the SDP model. Closed-loop experimental data shows that the SDP design more closely follows the joint angle commands than the equivalent linear algorithm, offering improved resolved motion.