Cart (Loading....) | Create Account
Close category search window
 

Integrated Direct/Indirect Adaptive Robust Control of Hydraulic Manipulators With Valve Deadband

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Mohanty, A. ; Ray W. Herrick Labs., Purdue Univ., West Lafayette, IN, USA ; Bin Yao

In this paper, an integrated direct indirect adaptive robust control (DIARC) algorithm is proposed for an electro-hydraulic manipulator with unknown valve deadband to improve the achievable output-tracking performance. The controller design for such a system is nontrivial due to various factors, such as nonsmooth static and Coulomb friction model uncertainties arising from the use of a simplified proportional-flow-valve model, and other unknown disturbances present in the system. Furthermore, when an unknown input-valve deadband is present, the controller performance can deteriorate if it is not taken care of explicitly. This paper recognizes the fact that though unknown valve deadband nonlinearity is not globally linearly parameterizable, it can still be linearly parameterized during most of the working ranges. Hence, by using an indirect estimation algorithm with online condition monitoring, accurate estimates of the unknown deadband parameters are obtained for an improved control performance. Comparative experimental results for motion control of an electro-hydraulic manipulator with two different valves having deadband illustrate the effectiveness of the proposed algorithm.

Published in:

Mechatronics, IEEE/ASME Transactions on  (Volume:16 ,  Issue: 4 )

Date of Publication:

Aug. 2011

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.