首页|Observer-Based Adaptive Robust Precision Motion Control of a Multi-Joint Hydraulic Manipulator

Observer-Based Adaptive Robust Precision Motion Control of a Multi-Joint Hydraulic Manipulator

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Hydraulic manipulators are usually applied in heavy-load and harsh operation tasks.However,when faced with a complex operation,the traditional proportional-integral-deriva-tive(PID)control may not meet requirements for high control performance.Model-based full-state-feedback control is an effec-tive alternative,but the states of a hydraulic manipulator are not always available and reliable in practical applications,particu-larly the joint angular velocity measurement.Considering that it is not suitable to obtain the velocity signal directly from differen-tiating of position measurement,the low-pass filtering is com-monly used,but it will definitely restrict the closed-loop band-width of the whole system.To avoid this problem and realize bet-ter control performance,this paper proposes a novel observer-based adaptive robust controller(obARC)for a multi-joint hydraulic manipulator subjected to both parametric uncertain-ties and the lack of accurate velocity measurement.Specifically,a nonlinear adaptive observer is first designed to handle the lack of velocity measurement with the consideration of parametric uncertainties.Then,the adaptive robust control is developed to compensate for the dynamic uncertainties,and the close-loop sys-tem robust stability is theoretically proved under the observation and control errors.Finally,comparative experiments are carried out to show that the designed controller can achieve a perfor-mance improvement over the traditional methods,specifically yielding better control accuracy owing to the closed-loop band-width breakthrough,which is limited by low-pass filtering in full-state-feedback control.

Hydraulic manipulatornonlinear adaptive obser-verparameter adaptationrobust control

Zheng Chen、Shizhao Zhou、Chong Shen、Litong Lyu、Junhui Zhang、Bin Yao

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State Key Laboratory of Fluid Power and Mechatronic Systems,Zhejiang University,Hangzhou 310027

Ocean College,Zhejiang University,Zhoushan 316021,China

School of Mechanical Engineering,Shijiazhuang Tiedao University,Shijiazhuang 050000

State Key Laboratory of Fluid Power and Mechatronic Systems,Zhejiang University,Hangzhou 310027,China

School of Mechanical Engineering,Purdue University,West Lafayette,IN 47907 USA

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国家自然科学基金国家自然科学基金国家自然科学基金浙江省自然科学基金Science and Technology Program of Hebei

520754765210506592048302LR23E050001E2021210011

2024

10.1109/JAS.2024.124209

自动化学报(英文版)
中国自动化学会,中国科学院自动化研究所,中国科技出版传媒股份有限公司

自动化学报(英文版)

CSTPCDEI
ISSN：2329-9266
年,卷(期)：2024.11(5)
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