Nonlinear control of a hydraulic parallel manipulator

TitleNonlinear control of a hydraulic parallel manipulator
Publication TypeConference Paper
Year of Publication2001
AuthorsSirouspour, M. R., and S. E. Salcudean
Conference NameRobotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
Pagination3760 - 3765 vol.4
Keywordsadaptive control, adaptive nonlinear controller, asymptotic stability, backstepping methodology, closed loop systems, full system models, hydraulic control equipment, hydraulic dynamics, hydraulic parallel manipulator, hydraulic robots, Lyapunov analysis, Lyapunov methods, manipulator dynamics, nonlinear control, nonlinear control systems, observers, parameter estimation, parametric uncertainties, position control, position tracking, rigid body dynamics, Stewart type hydraulic manipulator, tracking errors

An adaptive nonlinear controller is proposed for position tracking in hydraulic robots by adopting the backstepping methodology. Full system models including rigid body and hydraulic dynamics are incorporated in the design. The tracking errors are shown to be asymptotically stable in the presence of parametric uncertainties using Lyapunov analysis. The controller is applied to a Stewart type hydraulic manipulator. Simulation and experimental results are provided to demonstrate the effectiveness of the approach.


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