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State-dependent system identification for control of a hydraulically-actuated nuclear decommissioning robot

Research output: Contribution in Book/Report/Proceedings - With ISBN/ISSNConference contribution/Paper

Published

Standard

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

16th IFAC Symposium on System Identification. ed. / Michel Kinnaert. Brussels : IFAC, 2012.

Research output: Contribution in Book/Report/Proceedings - With ISBN/ISSNConference contribution/Paper

Harvard

Robertson, D, Taylor, CJ & Lokuciewski, C 2012, State-dependent system identification for control of a hydraulically-actuated nuclear decommissioning robot. in M Kinnaert (ed.), 16th IFAC Symposium on System Identification. IFAC, Brussels. https://doi.org/10.3182/20120711-3-BE-2027.00060

APA

Robertson, D., Taylor, C. J., & Lokuciewski, C. (2012). State-dependent system identification for control of a hydraulically-actuated nuclear decommissioning robot. In M. Kinnaert (Ed.), 16th IFAC Symposium on System Identification IFAC. https://doi.org/10.3182/20120711-3-BE-2027.00060

Vancouver

Robertson D, Taylor CJ, Lokuciewski C. State-dependent system identification for control of a hydraulically-actuated nuclear decommissioning robot. In Kinnaert M, editor, 16th IFAC Symposium on System Identification. Brussels: IFAC. 2012 https://doi.org/10.3182/20120711-3-BE-2027.00060

Author

Robertson, David ; Taylor, C. James ; Lokuciewski, Chris. / State-dependent system identification for control of a hydraulically-actuated nuclear decommissioning robot. 16th IFAC Symposium on System Identification. editor / Michel Kinnaert. Brussels : IFAC, 2012.

Bibtex

@inproceedings{dd044e9e019b4d929e580f7555f29990,
title = "State-dependent system identification for control of a hydraulically-actuated nuclear decommissioning robot",
abstract = "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.",
keywords = "identification, state-dependent parameter, robotics, non-minimal state space",
author = "David Robertson and Taylor, {C. James} and Chris Lokuciewski",
year = "2012",
doi = "10.3182/20120711-3-BE-2027.00060",
language = "English",
editor = "Michel Kinnaert",
booktitle = "16th IFAC Symposium on System Identification",
publisher = "IFAC",

}

RIS

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 -