Proportional-Integral-Plus Control of Robotic Excavator Arm Utilising State-Dependent Parameter Model

Jun Gu; Zhi Hua Feng; Xian Dong Ma; Jun Fang Ni

doi:10.4028/www.scientific.net/AMM.48-49.1323

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 48-49Proportional-Integral-Plus Control of Robotic...

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.

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Periodical:

Applied Mechanics and Materials (Volumes 48-49)

Pages:

1323-1327

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.48-49.1323

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Cite this paper

Online since:

February 2011

Authors:

Jun Gu, Zhi Hua Feng, Xian Dong Ma, Jun Fang Ni

Keywords:

Nonlinear Dynamics, Proportional-Integral-Derivative, Proportional-Integral-Plus, Robotic Excavator, State-Dependent Parameter

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