Robust control design for a wheel loader using and feedback linearization based methods

Fales, Roger; Kelkar, Atul G.

doi:10.1016/j.isatra.2009.01.007

Cited by 40 publications

(20 citation statements)

References 9 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…However, EHSS has some model uncertainties such as parametric disturbances, structural uncertainties, which are consequences of hydraulic physical characteristics, oil leakage, oil temperature variations, and characteristics of valves near null [11]. The classical control method of EHSS is PID [12].…”

Section: Mathematical Problems In Engineeringmentioning

confidence: 99%

A Lower Extremity Exoskeleton: Human-Machine Coupled Modeling, Robust Control Design, Simulation, and Overload-Carrying Experiment

Guo

Jiang

2015

Mathematical Problems in Engineering

View full text Add to dashboard Cite

A robust ∞ control method and switched control algorithm for hydraulic actuator presents in human-machine coordinated motion to solve the motion delay of lower extremity exoskeleton. After the characteristic parameters synthesis of human limb and exoskeleton linkage, the human-machine coupled motion model is constructed to estimate the appropriate hydraulic pressure, which is considered as a structural uncertainty in hydraulic model. Then the robust controller is designed to improve the robust stability and performance under the structural and parametric uncertainty disturbances. Simulation results show that, in walking mode, this robust controller can achieve a better dynamic response and aid-force efficiency than PID controller. Then, according to gait divisions of person's limb motion, the switched control algorithm is designed to reduce the delay of exoskeleton tracking person. Finally, the experimental results show that the human-machine coordinated walk with bearing 60 kg load and squat action with no external load are realized effectively by this proposed method.

show abstract

Section: Mathematical Problems In Engineeringmentioning

confidence: 99%

A Lower Extremity Exoskeleton: Human-Machine Coupled Modeling, Robust Control Design, Simulation, and Overload-Carrying Experiment

Guo

Jiang

2015

Mathematical Problems in Engineering

View full text Add to dashboard Cite

show abstract

“…The valve coefficient of discharge C d can vary depending on the geometry within metering orifices [17]. The fluid bulk modulus β is a parameter which can be difficult to determine due to many complicated factors, such as the compliance of the structure which contains the fluid volume and entrained air in the fluid [2].…”

Section: Modeling Of Uncertaintiesmentioning

confidence: 99%

“…In the literature, [17][18][19], several H ∞ con- [20] software packages. The proposed control system is verified by means of computer simulation and experimentally.…”

Section: Introductionmentioning

confidence: 99%

Robust position control synthesis of an electro-hydraulic servo system

2010

View full text Add to dashboard Cite

“…It was found that EHS starts to be commonly applied for large power systems such as wheel loaders [1], fatigue test devices [2], load simulators [3] and exoskeletons [4]. However, there exist uncertain nonlinearities including parametric uncertainty and external load disturbance in EHS.…”

Section: Introductionmentioning

confidence: 99%

Prescribed Performance Constraint Regulation of Electrohydraulic Control Based on Backstepping with Dynamic Surface

et al. 2018

View full text Add to dashboard Cite

Abstract:In electro-hydraulic system (EHS), uncertain nonlinearities such as some hydraulic parametric uncertainties and external load disturbance often degrade the output dynamic performance. To address this problem, a prescribed performance constraint (PPC) control method is adopted in EHS to restrict the tracking position error of the cylinder position to a prescribed accuracy and guarantee the dynamic and steady position response in a required boundedness under these uncertain nonlinearities. Furthermore, a dynamic surface is designed to avoid the explosion of complexity due to the repeatedly calculated differentiations of the virtual control variables derived in backstepping. The effectiveness of the proposed controller has been verified by a comparative results.

show abstract

Robust control design for a wheel loader using and feedback linearization based methods

Cited by 40 publications

References 9 publications

A Lower Extremity Exoskeleton: Human-Machine Coupled Modeling, Robust Control Design, Simulation, and Overload-Carrying Experiment

A Lower Extremity Exoskeleton: Human-Machine Coupled Modeling, Robust Control Design, Simulation, and Overload-Carrying Experiment

Robust position control synthesis of an electro-hydraulic servo system

Prescribed Performance Constraint Regulation of Electrohydraulic Control Based on Backstepping with Dynamic Surface

Contact Info

Product

Resources

About