Parametric Adaptive Control of Electro-hydraulic System driving Two-DOF Robotic Arm

被引：0
|
作者：
Guo, Qing [1 ,2 ]
Wang, Qiang [1 ]
Zuo, Zongyu [3 ]
Zhang, Yi [1 ]
Jiang, Dan [4 ]
Shi, Yan [5 ]
机构：
[1] Univ Elect Sci & Technol China, Sch Aeronaut & Astronaut, Chengdu 611731, Sichuan, Peoples R China
[2] Zhejiang Univ, Key Lab Fluid Power & Mechatron Syst, Hangzhou, Zhejiang, Peoples R China
[3] Beihang Univ, Aka Beijing Univ Aeronaut & Astronaut, Res Div 7, Sci & Technol Aircraft Control Lab, Beijing 100191, Peoples R China
[4] Univ Elect Sci & Technol China, Sch Mechatron Engn, Chengdu 611731, Sichuan, Peoples R China
[5] Beihang Univ, Sch Automat Sci & Elect Engn, Beijing 100191, Peoples R China
来源：
2017 IEEE 56TH ANNUAL CONFERENCE ON DECISION AND CONTROL (CDC) | 2017年
基金：
中国博士后科学基金; 中国国家自然科学基金;
关键词：
NEURAL-NETWORK CONTROL; TRACKING CONTROL; ROBUST-CONTROL; ACTUATORS; DESIGN;
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：
In this paper, a parametric adaptive control of electro-hydraulic system ( EHS) is proposed to drive the motion of two-degree-of-freedom robotic arm. Due to the unknown load disturbance from the driven force/torque of the robotic arm and the existing hydraulic parametric uncertainty, a parametric adaptive estimation law is designed to estimate the unknown bound of equivalent integrated disturbance. Then a backstepping controller is designed to guarantee the system stability and the dynamic tracking performance of EHS. The comparative experimentation results with conventional PI controller has verified the effectiveness of the proposed controller.
引用
收藏
页数：6
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