Adaptive Inverse Control for Gripper Rotating System in Heavy-Duty Manipulators With Unknown Dead Zones

Deng, Hua; Luo, Jiehua; Duan, Xiaogang; Zhong, Guoliang

doi:10.1109/tie.2017.2696514

Cited by 31 publications

(14 citation statements)

References 32 publications

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“…1+C(s)G(s) . In [23,25], the gradient projection adaptive law has been designed to update the adaptive inverse dead-zone parameters, and it can be represented as…”

Section: G(s)mentioning

confidence: 99%

“…Adaptive control (AC) is a powerful tool to handle time-varying parameters. An adaptive dead-zone inverse compensation controller was integrated to solve the problem of position tracking of a plant with an unknown dead-zone [23][24][25]. The robust adaptive control (RAC) method combines the advantages of adaptive control (AC) and robust control (RC).…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Active Disturbance Rejection Position Synchronous Control of Dual-Hydraulic Actuators with Unknown Dead-Zones

Wang

Zhao

Liu

et al. 2020

Sensors

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In this paper, an integrated control strategy of position synchronization control for dual-electro-hydraulic actuators with unknown dead-zones is proposed. The unified control scheme consists of two parts: One is adaptive dead-zone inverse controllers of each hydraulic actuator to offset the unknown dead-zones. The other is the linear active disturbance rejection controller (LADRC) for position synchronization error. First, the model of the electro-hydraulic proportional position control system (EPPS) was identified by the forgetting factor recursive least square (FFRLS) algorithm. Next, the model reference dead-zone inverse adaptive controller (MRDIAC) was developed to compensate for the delay of actuator response caused by unknown proportional valve dead-zones. Meanwhile, the validity of the adaptive law was proven by the Lyapunov theory. Therefore, the position control accuracy of each hydraulic actuator is guaranteed. Besides, to improve the precision of position synchronization control of dual-hydraulic actuators, a simple and elegant synchronous error-based LADRC was adopted, which applies the total disturbances design concept to eliminate and compensate for motion coupling rather than cross-coupling technology. The performance of the proposed control solution was investigated through extensive comparative experiments based on a hydraulic test platform. The experimental results successfully demonstrate the effectiveness and practicality of the proposed method.

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“…1+C(s)G(s) . In [23,25], the gradient projection adaptive law has been designed to update the adaptive inverse dead-zone parameters, and it can be represented as…”

Section: G(s)mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Active Disturbance Rejection Position Synchronous Control of Dual-Hydraulic Actuators with Unknown Dead-Zones

Wang

Zhao

Liu

et al. 2020

Sensors

View full text Add to dashboard Cite

show abstract

“…Motivated by preliminary testing that highlights limitations in the performance, one aspect of the research programme concerns the development of improved 'low-level' control systems for hydraulic manipulators, such that they can more effectively achieve the 'higher-level' task orientated objectives. In this regard, it is notable that uncertainties and nonlinearities, including actuator deadbands and time-delays, are not always fully addressed in the literature [7]. In fact, the two major challenges in high performance positioning and tracking stabilisation of robot manipulators, are the friction between moving parts and the deadband of the actuators.…”

Section: Introductionmentioning

confidence: 99%

Control of hydraulically–actuated manipulators with dead–band and time–delay uncertainties*

Albrecht¹,

Sánchez²,

Monk³

et al. 2020

UK-RAS Conference for PhD and Early Career Researchers Proceedings

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The research behind this article is motivated by robotic operations in radiologically contaminated environments, notably for nuclear decommissioning. However, the experiments reported within are based on a recently reconfigured, hydraulically-actuated, dual manipulator robot that is being used for R&D into both tele-operation and autonomy in a non-active laboratory setting. One element of this research concerns the development of novel control systems to address time-delay and deadband uncertainties. The article briefly discusses some preliminary results and plans in this regard. Recent improvements to the hardware demonstrator are also described.

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“…For example, the adaptive neural network controller was designed for a class of nonlinear stochastic nonaffine systems with actuator dead zones to approximate the nonlinear functions, and the closed‐loop system is stochastically stable . The adaptive inverse controller was designed for a class of gripper rotation systems in the heavy‐duty manipulator with unknown dead zone to estimate the inverse dead zone parameters online . The adaptive fuzzy inverse compensation controller was designed for a class of nonlinear uncertain systems with generalized dead zone, and the generalized dead zone was decomposed into an asymmetric dead zone multiplying an uncertain continuous input function .…”

Section: Introductionmentioning

confidence: 99%

“…Especially, the observer‐based adaptive fuzzy controller was designed for a class of nonlinear systems with nonlinear symmetric dead zone, and the nonlinear symmetric dead zone was transformed into the linear symmetric dead zone for processing . Compared with some works, both the multiple interval time‐varying delays and dead zone are considered for the nonlinear discrete‐time system in this research. However, if the nonlinear discrete‐time system both contains the multiple time delays and dead zone, the system model will contain more nonlinear uncertainties.…”

Section: Introductionmentioning

confidence: 99%

Stability analysis and adaptive control for nonlinear discrete‐time systems with time delays and dead zone via state‐feedback technique

Zhang

Zheng

Xie

et al. 2019

Adaptive Control & Signal

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This research addresses the stability analysis and adaptive state-feedback control for a class of nonlinear discrete-time systems with multiple interval time-varying delays and symmetry dead zone. The multiple interval time-varying delays and symmetry dead zone are considered in the nonlinear discrete-time system. The multiple interval time-varying delays are bounded by the nonlinear function with unknown coefficients, and the symmetry dead zone is considered without the knowledge of the dead zone parameters. The adaptive state-feedback controller is designed for the nonlinear discrete-time systems with multiple interval time-varying delays and dead zone. The discrete Lyapunov-Krasovskii functional is introduced, such that the solutions of the closed-loop error system converge to an adjustable bounded region and the state errors can be rendered arbitrarily small by adjusting the adaptive parameters. The designed adaptive state-feedback controller does not require the knowledge of maximum and minimum values for the characteristic slopes of the dead zone. Finally, three simulation examples are given to show the effectiveness of the proposed methods.

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Adaptive Inverse Control for Gripper Rotating System in Heavy-Duty Manipulators With Unknown Dead Zones

Cited by 31 publications

References 32 publications

Active Disturbance Rejection Position Synchronous Control of Dual-Hydraulic Actuators with Unknown Dead-Zones

Active Disturbance Rejection Position Synchronous Control of Dual-Hydraulic Actuators with Unknown Dead-Zones

Control of hydraulically–actuated manipulators with dead–band and time–delay uncertainties*

Stability analysis and adaptive control for nonlinear discrete‐time systems with time delays and dead zone via state‐feedback technique

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