By Topic

Nonlinear control of a hydraulic parallel manipulator

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)
Sirouspour, M.R. ; Dept. of Electr. & Comput. Eng., British Columbia Univ., Vancouver, BC, Canada ; Salcudean, S.E.

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.

Published in:

Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on  (Volume:4 )

Date of Conference: