CASIA OpenIR  > 学术期刊  > IEEE/CAA Journal of Automatica Sinica
Observer-Based Adaptive Robust Precision Motion Control of a Multi-Joint Hydraulic Manipulator
Zheng Chen; Shizhao Zhou; Chong Shen; Litong Lyu; Junhui Zhang; Bin Yao
Source PublicationIEEE/CAA Journal of Automatica Sinica
AbstractHydraulic manipulators are usually applied in heavy-load and harsh operation tasks. However, when faced with a complex operation, the traditional proportional-integral-derivative (PID) control may not meet requirements for high control performance. Model-based full-state-feedback control is an effective alternative, but the states of a hydraulic manipulator are not always available and reliable in practical applications, particularly the joint angular velocity measurement. Considering that it is not suitable to obtain the velocity signal directly from differentiating of position measurement, the low-pass filtering is commonly used, but it will definitely restrict the closed-loop bandwidth of the whole system. To avoid this problem and realize better control performance, this paper proposes a novel observer-based adaptive robust controller (obARC) for a multi-joint hydraulic manipulator subjected to both parametric uncertainties and the lack of accurate velocity measurement. Specifically, a nonlinear adaptive observer is first designed to handle the lack of velocity measurement with the consideration of parametric uncertainties. Then, the adaptive robust control is developed to compensate for the dynamic uncertainties, and the close-loop system robust stability is theoretically proved under the observation and control errors. Finally, comparative experiments are carried out to show that the designed controller can achieve a performance improvement over the traditional methods, specifically yielding better control accuracy owing to the closed-loop bandwidth breakthrough, which is limited by low-pass filtering in full-state-feedback control.
KeywordHydraulic manipulator nonlinear adaptive observer parameter adaptation robust control
Citation statistics
Cited Times:2[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Collection学术期刊_IEEE/CAA Journal of Automatica Sinica
Recommended Citation
GB/T 7714
Zheng Chen,Shizhao Zhou,Chong Shen,et al. Observer-Based Adaptive Robust Precision Motion Control of a Multi-Joint Hydraulic Manipulator[J]. IEEE/CAA Journal of Automatica Sinica,2024,11(5):1213-1226.
APA Zheng Chen,Shizhao Zhou,Chong Shen,Litong Lyu,Junhui Zhang,&Bin Yao.(2024).Observer-Based Adaptive Robust Precision Motion Control of a Multi-Joint Hydraulic Manipulator.IEEE/CAA Journal of Automatica Sinica,11(5),1213-1226.
MLA Zheng Chen,et al."Observer-Based Adaptive Robust Precision Motion Control of a Multi-Joint Hydraulic Manipulator".IEEE/CAA Journal of Automatica Sinica 11.5(2024):1213-1226.
Files in This Item: Download All
File Name/Size DocType Version Access License
JAS-2023-1081.pdf(4624KB)期刊论文出版稿开放获取CC BY-NC-SAView Download
Related Services
Recommend this item
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Zheng Chen]'s Articles
[Shizhao Zhou]'s Articles
[Chong Shen]'s Articles
Baidu academic
Similar articles in Baidu academic
[Zheng Chen]'s Articles
[Shizhao Zhou]'s Articles
[Chong Shen]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Zheng Chen]'s Articles
[Shizhao Zhou]'s Articles
[Chong Shen]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: JAS-2023-1081.pdf
Format: Adobe PDF
All comments (0)
No comment.

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.