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

Content Provider	IEEE Xplore Digital Library
Author	Mohanty, A. Bin Yao
Copyright Year	1996
Abstract	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.
Starting Page	707
Ending Page	715
Page Count	9
File Size	875035
File Format	PDF
ISSN	10834435
Volume Number	16
Issue Number	4
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-08-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Programmable control Adaptive control Robust control Valves Parameter estimation Motion control Laboratories Electrohydraulics Uncertainty Control systems robust control electro-hydraulic system motion control
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering Computer Science Applications

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