Observer-based backstepping control of a 6-dof parallel hydraulic manipulator

Chen, Sung-Hua; Fu, Li‐Chen

doi:10.1016/j.conengprac.2014.11.011

Cited by 37 publications

(8 citation statements)

References 21 publications

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“…However, they did not consider coupling problem of the parallel mechanism in all six directions, which infected tracking precision serious. Based on the observer, a backstepping control algorithm for forward kinematics solver is studied taking into account the actuator's friction [28]. In order to improve the performance of the system, the friction of the actuator is considered in this literature.…”

Section: Instructionmentioning

confidence: 99%

Modal Decoupled Dynamics Feed‐Forward Active Force Control of Spatial Multi‐DOF Parallel Robotic Manipulator

Niu

Yang

Tian

et al. 2019

Mathematical Problems in Engineering

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According to the parallel mechanism theory, this paper proposes a novel intelligent robotic spine brace for the treatment of scoliosis. Nevertheless, this type of parallel mechanism has the following disadvantages: strong dynamic coupling in task space or joint space, adverse effect of system’s gravity, and lower response frequency in roll and pitch orientations, which seriously affect the performance of the system. In order to solve those boring problems, this paper presents a novel active force control structure, modal space dynamic feed-forward (MSDF) force control strategy. Besides, this paper expresses the intelligent robotic brace system model including the dynamic and kinematic models and the electric actuator model with Kane strategy. The stability of the intelligent system with the novel control strategy is proved. In order to evaluate the performance of the presented MSDF force control method, this paper builds the parallel mechanism experimental platform. It can be seen from experimental results that the proposed motion control method solves these boring problems well.

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Section: Instructionmentioning

confidence: 99%

Modal Decoupled Dynamics Feed‐Forward Active Force Control of Spatial Multi‐DOF Parallel Robotic Manipulator

Niu

Yang

Tian

et al. 2019

Mathematical Problems in Engineering

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“…Pi et al [14] proposed a sliding mode control with discontinuous projection-based adaptation laws for a 6-DOF hydraulic platform with uncertain load disturbances to improve the tracking performance. Chen et al [15] proposed a backstepping control strategy to control the 6-DOF hydraulic parallel platform while incorporating an observer-based forward kinematics solver, and the friction compensation is applied to improve the control performance.…”

Section: Introductionmentioning

confidence: 99%

Model Predictive Control of a Shipborne Hydraulic Parallel Stabilized Platform Based on Ship Motion Prediction

et al. 2020

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Shipborne stabilized platform is an important equipment to ensure the stability of shipborne equipment relative to inertial coordinate system. This paper presents a model predictive control strategy based on ship motion prediction (MPMPC) for ship stabilization platform. Firstly, the ship motion is simulated, and the autoregressive prediction model (AR model) is used to predict the ship motion. Then the kinematics analysis of the Shipborne stabilized platform is carried out and the mathematical model of the hydraulic drive unit (HDU) of the stable platform is established. Then the predicted ship motion is combined with model predictive control (MPC). The predicted trajectory of HDU can be obtained by the kinematics calculation of predicted ship motion. One part of the predicted trajectory is used to compensate the time delay of HDU, and the other part is used as the reference trajectory of the rolling optimization of MPC, instead of the reference trajectory using the measured ship motion at the current moment in traditional model predictive control. Compared with the reference trajectory using the measured ship motion at the current moment, the predicted trajectory of AR model can reflect the future state of the system better, and a better control sequence will be obtained by minimizing the objective function. Finally, the simulation and experiment show that the MPMPC has higher tracking accuracy than traditional MPC.

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“…Hydraulic systems have been extensively employed in sundry industrial applications by utilizing the advantages of large force/torque output capability and small size-to-power ratios, such as automotive active suspensions (Huang et al, 2018; Ma et al, 2019; Sun et al, 2015), hydraulic load simulators (Kang et al, 2018; Wang et al, 2018; Yao et al, 2013), robots and manipulators (Chen and Fu, 2015; Montazeri et al, 2017), aircraft actuators (Sente et al, 2012), and so on. However, the existence of various modeling uncertainties and high nonlinear behaviors make it complicated for developing high-performance closed-loop controllers (Yang et al, 2017).…”

Section: Introductionmentioning

confidence: 99%

Dual extended state observer-based backstepping control of electro-hydraulic servo systems with time-varying output constraints

Yang

2019

Transactions of the Institute of Measurement and Control

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In this paper, a novel nonlinear robust controller ensuring time-varying output constraints for the double-rod hydraulic servo systems in the presence of largely unknown matched and mismatched disturbances is proposed. By employing two extended state observers for each channel of the load dynamics and pressure dynamics of the considered hydraulic system, the large matched and mismatched disturbances are successfully compensated. In addition, a time-varying barrier Lyapunov function (BLF) of asymmetric type has been employed to make sure that the position output is never violated. The resulting controller is synthesized using the backstepping procedure. The stability of the whole closed-loop hydraulic system associated with the dual extended state observer (ESO)-based controller is strictly guaranteed. In theory, the proposed control strategy can not only ensure the output satisfy the preset constrained space, but also enhance the output tracking performance when the system faces various largely unknown disturbances. The effectiveness of the proposed controller has also been demonstrated via comparative simulation results.

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Observer-based backstepping control of a 6-dof parallel hydraulic manipulator

Cited by 37 publications

References 21 publications

Modal Decoupled Dynamics Feed‐Forward Active Force Control of Spatial Multi‐DOF Parallel Robotic Manipulator

Modal Decoupled Dynamics Feed‐Forward Active Force Control of Spatial Multi‐DOF Parallel Robotic Manipulator

Model Predictive Control of a Shipborne Hydraulic Parallel Stabilized Platform Based on Ship Motion Prediction

Dual extended state observer-based backstepping control of electro-hydraulic servo systems with time-varying output constraints

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