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Research output: Contribution to Journal/Magazine › Journal article › peer-review
Research output: Contribution to Journal/Magazine › Journal article › peer-review
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TY - JOUR
T1 - State-dependent parameter model identification for inverse dead-zone control of a hydraulic manipulator
AU - West, Craig
AU - Wilson, Emma Denise
AU - Clairon, Q.
AU - Monk, Stephen David
AU - Montazeri, Allahyar
AU - Taylor, C. James
PY - 2018
Y1 - 2018
N2 - The robotic platform in this study has dual, seven-function, hydraulically actuated manipulators, which are being used for research into assisted tele-operation for common nuclear decommissioning tasks, such as pipe cutting. The article concerns the identification of state-dependent parameter (SDP) models for joint angle control. Compared to earlier SDP analysis of the same device, the present work proposes a new way of representing the state-dependent gain and parametrises this using novel regret-regression methods. A mechanistic interpretation of this model yields dead-zone and angular velocity saturation coefficients, and facilitates SDP-based control with an inverse dead-zone. This approach integrates the input signal calibration, system identification and nonlinear control system design steps, using a relatively small data-set, allowing for straightforward recalibration when the dynamic characteristics have changed due to age and use, or after the installation of replacement parts.
AB - The robotic platform in this study has dual, seven-function, hydraulically actuated manipulators, which are being used for research into assisted tele-operation for common nuclear decommissioning tasks, such as pipe cutting. The article concerns the identification of state-dependent parameter (SDP) models for joint angle control. Compared to earlier SDP analysis of the same device, the present work proposes a new way of representing the state-dependent gain and parametrises this using novel regret-regression methods. A mechanistic interpretation of this model yields dead-zone and angular velocity saturation coefficients, and facilitates SDP-based control with an inverse dead-zone. This approach integrates the input signal calibration, system identification and nonlinear control system design steps, using a relatively small data-set, allowing for straightforward recalibration when the dynamic characteristics have changed due to age and use, or after the installation of replacement parts.
KW - Identification for control
KW - nonlinear system identification
KW - parameter-varying systems
KW - robotic manipulators
KW - anti-windup
KW - application of nonlinear analysis and design
U2 - 10.1016/j.ifacol.2018.09.102
DO - 10.1016/j.ifacol.2018.09.102
M3 - Journal article
VL - 51
SP - 126
EP - 131
JO - IFAC-PapersOnLine
JF - IFAC-PapersOnLine
SN - 2405-8963
IS - 15
T2 - 18th IFAC Symposium on System Identification
Y2 - 9 July 2018 through 11 July 2018
ER -