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

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State-dependent control of a hydraulically-actuated nuclear decommissioning robot. / Taylor, C. James; Robertson, David.

In: Control Engineering Practice, Vol. 21, No. 12, 12.2013, p. 1716-1725.

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Taylor, C. James ; Robertson, David. / State-dependent control of a hydraulically-actuated nuclear decommissioning robot. In: Control Engineering Practice. 2013 ; Vol. 21, No. 12. pp. 1716-1725.

Bibtex

@article{a5c8686df8cc4d64851d03139a466177,
title = "State-dependent control of a hydraulically-actuated nuclear decommissioning robot",
abstract = "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.",
keywords = "state-dependent parameter, non-minimal state space, pole assignment, nuclear decommissioning robot, hydraulic manipulators",
author = "Taylor, {C. James} and David Robertson",
year = "2013",
month = dec,
doi = "10.1016/j.conengprac.2013.08.011",
language = "English",
volume = "21",
pages = "1716--1725",
journal = "Control Engineering Practice",
issn = "0967-0661",
publisher = "Elsevier Limited",
number = "12",

}

RIS

TY - JOUR

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

AU - Taylor, C. James

AU - Robertson, David

PY - 2013/12

Y1 - 2013/12

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 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.

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 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.

KW - state-dependent parameter

KW - non-minimal state space

KW - pole assignment

KW - nuclear decommissioning robot

KW - hydraulic manipulators

U2 - 10.1016/j.conengprac.2013.08.011

DO - 10.1016/j.conengprac.2013.08.011

M3 - Journal article

VL - 21

SP - 1716

EP - 1725

JO - Control Engineering Practice

JF - Control Engineering Practice

SN - 0967-0661

IS - 12

ER -