Design of Master-Slave Position Controller of Electro-Hydraulic Servo Tele-Robot
To eliminate the errors of cylinders’ dynamic output positions of master side for the influence of random disturbance of slave side, master-slave position controller based on disturbance state observer optimal control and robust dynamic compensate PD feedback control algorithm is designed for electro-hydraulic servo tele-robot. A linear quadratic with disturbance observer and a dynamic robust compensator position controller is developed. Experimental results demonstrated the proposed algorithm is availability and showed that the designed controllers both improved position tracking precision for master-slave side and possessed good adaptive ability and robustness in existence of uncertain disturbance, enhanced the operational performance.
M. D. Gong "Design of Master-Slave Position Controller of Electro-Hydraulic Servo Tele-Robot", Applied Mechanics and Materials, Vols. 130-134, pp. 2577-2580, 2012