A Robust Control Approach for Hydraulic Excavators Using μ-synthesis

Kim, Seung Hyun; Park, Jaemann; Kang, Seonhyeok; Kim, Pan Young; Kim, H. Jin

doi:10.1007/s12555-017-0071-9

Cited by 33 publications

(23 citation statements)

References 27 publications

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“…The MLKNF is based on a Kalman filter with augmented states to estimate and mitigate multiple interference signals. In order to adjust the notch depth according to the power of the signal, an adaptation logic is designed and applied to the MLKNF, which is called the AMLKNF . If the notch frequency ratio between interference frequency and sampling frequency is fixed, the only tunable parameter of the MLKNF is the signal/noise contents.…”

Section: Introductionmentioning

confidence: 99%

Frequency tracking and mitigation method based on CPHD filter and adaptive multiple linear Kalman notch filter for multiple GNSS interference

2019

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In this paper, a frequency tracking method based on a cardinalized probability hypothesis density (CPHD) filter with cardinality compensation and fuzzy-c means (FCM) clustering is proposed to precisely estimate multiple interference frequencies in the received Global Navigation Satellite System (GNSS) signal. In addition, an adaptive multiple linear Kalman notch filter is applied in order to mitigate multiple GNSS interference signals by using tracking results from the proposed CPHD filter. The cardinality refers to the number of interference frequencies, and estimation accuracy on the cardinality has an effect on the tracking and mitigation performance of the filter. For that reason, the cardinality compensation process and FCM clustering are added in the CPHD filter.The proposed tracking and mitigation method is evaluated by theoretical analysis including simulations. It is confirmed that the proposed algorithm has better tracking and mitigation performance compared with the conventional algorithms.

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Section: Introductionmentioning

confidence: 99%

Frequency tracking and mitigation method based on CPHD filter and adaptive multiple linear Kalman notch filter for multiple GNSS interference

2019

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“…Although the small-gain theorem (SGT) [18] can still be a tool for stability analysis, the SGT analysis based on the largest singular value among uncertainties is likely to yield overly conservative results especially if multiple uncertain elements are involved. Instead, we use structured singular value analysis, or µ-analysis [22]- [24], to reflect the combined effects of uncertainties.…”

Section: Stability Analysismentioning

confidence: 99%

Robust Translational Force Control of Multi-Rotor UAV for Precise Acceleration Tracking

Lee

Kim

2020

IEEE Trans. Automat. Sci. Eng.

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In this paper, we introduce a translational force control method with disturbance observer (DOB)-based force disturbance cancellation for precise three-dimensional acceleration control of a multi-rotor UAV. The acceleration control of the multi-rotor requires conversion of the desired acceleration signal to the desired roll, pitch, and total thrust. But because the attitude dynamics and the thrust dynamics are different, simple kinematic signal conversion without consideration of those difference can cause serious performance degradation in acceleration tracking. Unlike most existing translational force control techniques that are based on such simple inversion, our new method allows controlling the acceleration of the multi-rotor more precisely by considering the dynamics of the multi-rotor during the kinematic inversion. By combining the DOB with the translational force system that includes the improved conversion technique, we achieve robustness with respect to the external force disturbances that hinders the accurate acceleration control. µ-analysis is performed to ensure the robust stability of the overall closed-loop system, considering the combined effect of various possible model uncertainties. Both simulation and experiment are conducted to validate the proposed technique, which confirms the satisfactory performance to track the desired acceleration of the multi-rotor.Note to Practitioners: Abstract-This paper presents a method for controlling the acceleration of a multi-rotor accurately under the presence of translational force disturbance. Unlike the existing methods, the new signal conversion technique that considers the dynamics of the multi-rotor in the process of converting the target translational acceleration signal to the target roll, pitch and thrust signal enables a more accurate translational force control. The disturbance observer (DOB) structure applied to the translational force control system overcomes the acceleration control performance deterioration caused by external translational force disturbance. Through the combination of the two techniques, the acceleration of the multi-rotor can be accurately controlled not only in the nominal environment but also in the presence of translational force disturbance.

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“…By optimizing the proportional integral derivative (PID) controller, Feng [6] proposed an improved ant colony optimization algorithm (IACO) to increase the tracking accuracy of hydraulic systems. Moreover [7], a robust controller was designed using the µ-synthesis method to ensure the stability and performance of a hydraulic excavator.…”

Section: Introductionmentioning

confidence: 99%

Parameter Adaptive Sliding Mode Trajectory Tracking Strategy with Initial Value Identification for the Swing in a Hydraulic Construction Robot

Hou

Zhao

Zhang

2022

Preprint

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A novel trajectory tracking strategy is developed for a double actuated swing in a hydraulic construction robot. Specifically, a nonlinear hydraulic dynamics model of a double actuated swing is established, and a robust adaptive control strategy is designed to enhance the trajectory tracking performance. When an object is grabbed and unloaded, the inertia of a swing considerably changes, and the performance of the estimation algorithm is generally inadequate. Thus, it is necessary to establish an algorithm to identify the initial value of the moment of inertia of the object. To this end, this paper proposes a novel initial value identification algorithm based on a two-DOF robot gravity force identification method combined with computer vision information. The performance of the identification algorithm is enhanced. Simulations and experiments are performed to verify the effect of the novel control scheme.

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A Robust Control Approach for Hydraulic Excavators Using μ-synthesis

Cited by 33 publications

References 27 publications

Frequency tracking and mitigation method based on CPHD filter and adaptive multiple linear Kalman notch filter for multiple GNSS interference

Frequency tracking and mitigation method based on CPHD filter and adaptive multiple linear Kalman notch filter for multiple GNSS interference

Robust Translational Force Control of Multi-Rotor UAV for Precise Acceleration Tracking

Parameter Adaptive Sliding Mode Trajectory Tracking Strategy with Initial Value Identification for the Swing in a Hydraulic Construction Robot

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