TY - CONF

T1 - State-dependent control of a hydraulically-actuated nuclear decommissioning robot

AU - Robertson, David

AU - Taylor, C. James

PY - 2012

Y1 - 2012

N2 - 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.

AB - 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.

U2 - 10.1109/CONTROL.2012.6334725

DO - 10.1109/CONTROL.2012.6334725

M3 - Conference paper

T2 - 2012 UKACC International Conference on Control

Y2 - 3 September 2012 through 5 September 2012

ER -