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Proportional-integral-plus control of robotic excavator arm utilising state-dependent parameter model

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Proportional-integral-plus control of robotic excavator arm utilising state-dependent parameter model. / Gu, Jun; Feng, Zhi-hua; Ma, Xiandong et al.

In: Applied Mechanics and Materials, Vol. 48-49, 2011, p. 1323-1327.

Research output: Contribution to Journal/MagazineJournal articlepeer-review

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Gu J, Feng Z, Ma X, Ni J. Proportional-integral-plus control of robotic excavator arm utilising state-dependent parameter model. Applied Mechanics and Materials. 2011;48-49:1323-1327. doi: 10.4028/www.scientific.net/AMM.48-49.1323

Author

Gu, Jun ; Feng, Zhi-hua ; Ma, Xiandong et al. / Proportional-integral-plus control of robotic excavator arm utilising state-dependent parameter model. In: Applied Mechanics and Materials. 2011 ; Vol. 48-49. pp. 1323-1327.

Bibtex

@article{f73d1fc097154baba400daa06be18cce,
title = "Proportional-integral-plus control of robotic excavator arm utilising state-dependent parameter model",
abstract = "This paper is concerned with the design of a control system for a robotic excavator known as the Lancaster University Computerised and Intelligent Excavator (LUCIE). A nonlinear proportional-integral-plus (PIP) control algorithm is developed for regulating movement of excavator arm. The nonlinear dynamics of the hydraulic driven arm is represented using the quasi-linear state-dependent parameter (SDP) model, in which the parameters are functionally dependent on other variables in the system. The model is subsequently utilised to develop a new approach to control system design, based on nonlinear PIP pole assignment. Implementation results demonstrate improved tracking performance of excavator arm in comparison with both linear proportional-integral-derivative (PID) and conventional (linearised) fixed-gain PIP control.",
keywords = "State-dependent parameter, nonlinear dynamics , proportional-integral-derivative , robotic excavator",
author = "Jun Gu and Zhi-hua Feng and Xiandong Ma and Jun-fang Ni",
year = "2011",
doi = "10.4028/www.scientific.net/AMM.48-49.1323",
language = "English",
volume = "48-49",
pages = "1323--1327",
journal = "Applied Mechanics and Materials",
issn = "1660-9336",
publisher = "Trans Tech Publications",

}

RIS

TY - JOUR

T1 - Proportional-integral-plus control of robotic excavator arm utilising state-dependent parameter model

AU - Gu, Jun

AU - Feng, Zhi-hua

AU - Ma, Xiandong

AU - Ni, Jun-fang

PY - 2011

Y1 - 2011

N2 - This paper is concerned with the design of a control system for a robotic excavator known as the Lancaster University Computerised and Intelligent Excavator (LUCIE). A nonlinear proportional-integral-plus (PIP) control algorithm is developed for regulating movement of excavator arm. The nonlinear dynamics of the hydraulic driven arm is represented using the quasi-linear state-dependent parameter (SDP) model, in which the parameters are functionally dependent on other variables in the system. The model is subsequently utilised to develop a new approach to control system design, based on nonlinear PIP pole assignment. Implementation results demonstrate improved tracking performance of excavator arm in comparison with both linear proportional-integral-derivative (PID) and conventional (linearised) fixed-gain PIP control.

AB - This paper is concerned with the design of a control system for a robotic excavator known as the Lancaster University Computerised and Intelligent Excavator (LUCIE). A nonlinear proportional-integral-plus (PIP) control algorithm is developed for regulating movement of excavator arm. The nonlinear dynamics of the hydraulic driven arm is represented using the quasi-linear state-dependent parameter (SDP) model, in which the parameters are functionally dependent on other variables in the system. The model is subsequently utilised to develop a new approach to control system design, based on nonlinear PIP pole assignment. Implementation results demonstrate improved tracking performance of excavator arm in comparison with both linear proportional-integral-derivative (PID) and conventional (linearised) fixed-gain PIP control.

KW - State-dependent parameter

KW - nonlinear dynamics

KW - proportional-integral-derivative

KW - robotic excavator

U2 - 10.4028/www.scientific.net/AMM.48-49.1323

DO - 10.4028/www.scientific.net/AMM.48-49.1323

M3 - Journal article

VL - 48-49

SP - 1323

EP - 1327

JO - Applied Mechanics and Materials

JF - Applied Mechanics and Materials

SN - 1660-9336

ER -