Paper 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.

  Info
Periodical
Edited by
Zhixiang Hou
Pages
1323-1327
DOI
10.4028/www.scientific.net/AMM.48-49.1323
Citation
J. Gu, Z. H. Feng, X. D. Ma, J. F. Ni, "Proportional-Integral-Plus Control of Robotic Excavator Arm Utilising State-Dependent Parameter Model", Applied Mechanics and Materials, Vols. 48-49, pp. 1323-1327, 2011
Online since
February 2011
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