Enhancement the Maneuverability of Tele-Hydraulic System Using Fuzzy Friction Compensator

Abstract

One degree of freedom (DOF) tele-hydraulic manipulation using force reflecting bilateral control will be investigated. The primary objective in the development of a simple one DOF experimental rig was to allow the investigation of different tele-control strategies prior to their implementation on the eight DOF tele-hydraulic excavator system. Because of the friction nonlinearity characteristic in hydraulic system, high steady state error and overshoot have occurred in the position response as a typical imperfect implementation of associated control dynamic. In this situation, there is a necessity to be able to effectively utilizing the intelligent friction compensated controller. This fuzzy compensator combined with fuzzy controller will be implemented to enhance the maneuverability performance. Experiments were carried out and the experimental results illustrated that the above compensated intelligent framework can improve the bilateral performance