Observer-Based Adaptive Robust Precision Motion Control of a Multi-Joint Hydraulic Manipulator

doi:10.1109/JAS.2024.124209

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
发表期刊	IEEE/CAA Journal of Automatica Sinica
ISSN	2329-9266
	2024
卷号	11 期号:5 页码:1213-1226
摘要	Hydraulic 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.
关键词	Hydraulic manipulator nonlinear adaptive observer parameter adaptation robust control
DOI	10.1109/JAS.2024.124209
引用统计	被引频次：2[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/55710
专题	学术期刊_IEEE/CAA Journal of Automatica Sinica
推荐引用方式 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.

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