Title :
Nonlinear control of a hydraulic parallel manipulator
Author :
Sirouspour, M.R. ; Salcudean, S.E.
Author_Institution :
Dept. of Electr. & Comput. Eng., British Columbia Univ., Vancouver, BC, Canada
Abstract :
An adaptive nonlinear controller is proposed for position tracking in hydraulic robots by adopting the backstepping methodology. Full system models including rigid body and hydraulic dynamics are incorporated in the design. The tracking errors are shown to be asymptotically stable in the presence of parametric uncertainties using Lyapunov analysis. The controller is applied to a Stewart type hydraulic manipulator. Simulation and experimental results are provided to demonstrate the effectiveness of the approach.
Keywords :
Lyapunov methods; adaptive control; asymptotic stability; closed loop systems; hydraulic control equipment; manipulator dynamics; nonlinear control systems; observers; parameter estimation; position control; Lyapunov analysis; Stewart type hydraulic manipulator; adaptive nonlinear controller; asymptotic stability; backstepping methodology; full system models; hydraulic dynamics; hydraulic parallel manipulator; hydraulic robots; nonlinear control; parametric uncertainties; position tracking; rigid body dynamics; tracking errors; Actuators; Adaptive control; Backstepping; Control systems; Manipulator dynamics; Nonlinear dynamical systems; Programmable control; Robot control; Service robots; Uncertainty;
Conference_Titel :
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
Print_ISBN :
0-7803-6576-3
DOI :
10.1109/ROBOT.2001.933203
