Title :
Adaptive predictive control of double-triangle boom based on an inhomogeneous model
Author :
Li, Jinzhou ; Li, Lizheng
Author_Institution :
Dept. of Electron. & Inf. Eng., Huazhong Univ. of Sci. & Technol., Wuhan
Abstract :
In order to overcome the shortage of closed-loop prediction, an inhomogeneous incremental time-varying linear model is put forward, the existence theorem of the model is presented and demonstrated. Then an adaptive predictive control algorithm based on the model is deduced and practically applied to the trajectory tracking and directly positioning control of double-triangle boom used for drilling tunnel rock. The application result confirms the effectiveness of the control strategy.
Keywords :
adaptive control; closed loop systems; construction equipment; linear systems; position control; predictive control; time-varying systems; adaptive predictive control; closed-loop prediction; double-triangle boom; drilling; existence theorem; inhomogeneous incremental time-varying linear model; positioning control; trajectory tracking; tunnel rock; Accuracy; Adaptive control; Automation; Drilling; Error correction; Feedback; Nonlinear control systems; Predictive control; Predictive models; Programmable control; adaptive predictive control; directly positioning; double-triangle boom; rock-drilling robot;
Conference_Titel :
Intelligent Control and Automation, 2008. WCICA 2008. 7th World Congress on
Conference_Location :
Chongqing
Print_ISBN :
978-1-4244-2113-8
Electronic_ISBN :
978-1-4244-2114-5
DOI :
10.1109/WCICA.2008.4594548
