Research output: Contribution in Book/Report/Proceedings - With ISBN/ISSN › Conference contribution/Paper
Research output: Contribution in Book/Report/Proceedings - With ISBN/ISSN › Conference contribution/Paper
}
TY - GEN
T1 - State-dependent system identification for control of a hydraulically-actuated nuclear decommissioning robot
AU - Robertson, David
AU - Taylor, C. James
AU - Lokuciewski, Chris
PY - 2012
Y1 - 2012
N2 - This article considers the identification of state-dependent parameter~(SDP) models for the hydraulically actuated dual-manipulators of a mobile robot used for nuclear decommissioning tasks. A unified framework for calibration, data collection and system identification is developed, and utilized to investigate potential state-dependencies. The latter are associated with nonlinear system dynamics and can cause irregular joint movements when the device is controlled using linear control algorithms. The analysis suggests that a univariate SDP model is suitable for control design. The model has a state-dependent gain, characterized directly from experimental data using a numerically optimized polynomial function of the delayed input variable. In order to demonstrate the practical utility of the SDP model, closed-loop results using a novel non-minimal regulator for joint control are briefly considered.
AB - This article considers the identification of state-dependent parameter~(SDP) models for the hydraulically actuated dual-manipulators of a mobile robot used for nuclear decommissioning tasks. A unified framework for calibration, data collection and system identification is developed, and utilized to investigate potential state-dependencies. The latter are associated with nonlinear system dynamics and can cause irregular joint movements when the device is controlled using linear control algorithms. The analysis suggests that a univariate SDP model is suitable for control design. The model has a state-dependent gain, characterized directly from experimental data using a numerically optimized polynomial function of the delayed input variable. In order to demonstrate the practical utility of the SDP model, closed-loop results using a novel non-minimal regulator for joint control are briefly considered.
KW - identification
KW - state-dependent parameter
KW - robotics
KW - non-minimal state space
U2 - 10.3182/20120711-3-BE-2027.00060
DO - 10.3182/20120711-3-BE-2027.00060
M3 - Conference contribution/Paper
BT - 16th IFAC Symposium on System Identification
A2 - Kinnaert, Michel
PB - IFAC
CY - Brussels
ER -