Motion Control of a Hydraulic Manipulator with Adaptive Nonlinear Model Compensation and Comparative Experiments

Machines

Po Hu¹  Yangxiu Xia²  Litong Lyu²  Yong Nie²  Zheng Chen² 

[1] School of Mechanical Engineering, Shijiazhuang Tiedao University, Shijiazhuang 050043, China;The State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China;

关键词: adaptive robust control;    hydraulic manipulator;    motion control;    backstepping;   

DOI  :  10.3390/machines10030214

来源: DOAJ

【 摘 要 】

Hydraulic manipulators play an irreplaceable role in many heavy-duty applications. Currently, there are stronger demands for the hydraulic manipulator to achieve high precision, as well as high force/power. However, due to the inherent nonlinearities of its high-order dynamics, the precision of the manipulator has been a common weakness compared with electrically driven ones. Thus, in this paper, a nonlinear adaptive robust control method for the hydraulic manipulator is proposed. To make the controller more applicable to practical engineering projects, this study tried to control each joint independently instead of directly based on the complicated multi-degree high-order dynamics, while guaranteeing the control precision by the adaptive nonlinear model compensation, as well as a robust feedback design. The closed-loop control performance was theoretically verified. Besides, several sets of comparative motion tracking experiments were conducted, and the proposed closed-loop system achieved high precision under different trajectories and postures.

【 授权许可】

Unknown