Nonlinear control of a hydraulic parallel manipulator

被引：0
|
作者：
Sirouspour, MR [1 ]
Salcudean, SE [1 ]
机构：
[1] Univ British Columbia, Dept Elect & Comp Engn, Vancouver, BC V6T 1Z4, Canada
来源：
2001 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS | 2001年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A novel adaptive nonlinear controller is proposed for position tracking in hydraulic robots by adopting the backstepping, methodology. Full system model 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.
引用
收藏
页码：3760 / 3765
页数：6
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