Nonlinear control of hydraulic robots

Author

Sirouspour, Mohammad Reza ; Salcudean, Septimiu E.

Author_Institution

Dept. of Electr. & Comput. Eng., British Columbia Univ., Vancouver, BC, Canada

Volume

17

Issue

2

fYear

2001

fDate

4/1/2001 12:00:00 AM

Firstpage

173

Lastpage

182

Abstract

This paper addresses the control problem of hydraulic robot manipulators. The backstepping design methodology is adopted to develop a novel nonlinear position tracking controller. The tracking errors are shown to be exponentially stable under the proposed control law. The controller is further augmented with adaptation laws to compensate for parametric uncertainties in the system dynamics. Acceleration feedback is avoided by using two new adaptive and robust sliding-type observers. The adaptive controllers are proven to be asymptotically stable via Lyapunov analysis. Simulation and experimental results performed with a hydraulic Stewart platform demonstrate the effectiveness of the approach

Keywords

Lyapunov methods; acceleration control; adaptive control; asymptotic stability; compensation; control system synthesis; feedback; hydraulic control equipment; manipulators; nonlinear control systems; observers; robust control; tracking; uncertain systems; Lyapunov analysis; acceleration feedback; adaptation laws; adaptive robust sliding-type observers; asymptotic stability; backstepping design methodology; compensation; exponentially stable tracking errors; hydraulic Stewart platform; hydraulic robot manipulators; nonlinear position tracking controller; parametric uncertainties; Acceleration; Backstepping; Control systems; Design methodology; Error correction; Feedback; Manipulator dynamics; Nonlinear dynamical systems; Robot control; Uncertainty;

fLanguage

English

Journal_Title

Robotics and Automation, IEEE Transactions on

Publisher

ieee

ISSN

1042-296X

Type

jour

DOI

10.1109/70.928562

Filename

928562