2015
DOI: 10.1016/j.autcon.2014.12.014
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High performance nonlinear motion/force controller design for redundant hydraulic construction crane automation

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Cited by 46 publications
(24 citation statements)
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“…In addition, as demonstrated in [18], more subsystems (actuators) can also be added into the original system without control performance deterioration while keeping the control equations of the original subsystems unchanged.…”
Section: Virtual Decomposition Control Of the Manipulatormentioning
confidence: 99%
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“…In addition, as demonstrated in [18], more subsystems (actuators) can also be added into the original system without control performance deterioration while keeping the control equations of the original subsystems unchanged.…”
Section: Virtual Decomposition Control Of the Manipulatormentioning
confidence: 99%
“…Surprisingly, very few research results exist for advance contact control in hydraulic manipulators compared with their electrical manipulator counterparts, as presented in [5]- [10] (see also historical overviews of the robot force control in [11]- [13]). The majority of available controls for hydraulic manipulators have mainly focused on free-space motion (see [3] and [14]- [18]), despite that hydraulic manipulation usually involves mechanical contacts with the objects to be operated and the environment to be interacted.…”
Section: Introductionmentioning
confidence: 99%
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“…The goal is to show that our learning method in [13] 1) can be used to learn impedance parameters from a teleoperated human demonstration with a hydraulic heavy-duty manipulator, and 2) can be incorporated to our novel impedance control method in [8] such that the demonstrated motion can be reproduced with guaranteed stability, even in contact with varying environment and presence of measurement errors. Overall, the proposed method is built on the authors' earlier contributions on high-precision and stability-guaranteed n-DOF manipulator controls [7], [8], [16] and on LfD algorithms [13], [26]. Furthermore, the solution relies on an advanced force-reflected teleoperation method in [27], which is compatible to the hydraulic manipulator control methods in [7], [8], [16].…”
Section: Methodsmentioning
confidence: 99%
“…Thus, if a minor cylinder velocity were desired, for example due to a numerical imprecision of the optimisation, the cylinder would not be forced to move. This controller is simpler than the nonlinear model-based controllers, for example, by Bu and Yao [41] and Koivumäki and Mattila [42].…”
Section: Discussionmentioning
confidence: 99%