Parametric adaptive control of electro-hydraulic system driving two-DOF robotic arm

Qing Guo; Qiang Wang; Zongyu Zuo; Yi Zhang; Dan Jiang; Yan Shi

doi:10.1109/CDC.2017.8264141

Parametric adaptive control of electro-hydraulic system driving two-DOF robotic arm

Qing Guo
, Qiang Wang
, Zongyu Zuo
, Yi Zhang
, Dan Jiang
, Yan Shi

自动化科学与电气工程学院

University of Electronic Science and Technology of China
Zhejiang University

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

6 引用（Scopus）

摘要

In this paper, a parametric adaptive control of electro-hydraulic system (EHS) is proposed to drive the motion of two-degree-of-freedom robotic arm. Due to the unknown load disturbance from the driven force/torque of the robotic arm and the existing hydraulic parametric uncertainty, a parametric adaptive estimation law is designed to estimate the unknown bound of equivalent integrated disturbance. Then a backstep-ping controller is designed to guarantee the system stability and the dynamic tracking performance of EHS. The comparative experimentation results with conventional PI controller has verified the effectiveness of the proposed controller.

源语言	英语
主期刊名	2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017
出版商	Institute of Electrical and Electronics Engineers Inc.
页	3283-3288
页数	6
ISBN（电子版）	9781509028733
DOI	https://doi.org/10.1109/CDC.2017.8264141
出版状态	已出版 - 28 6月 2017
活动	56th IEEE Annual Conference on Decision and Control, CDC 2017 - Melbourne, 澳大利亚期限: 12 12月 2017 → 15 12月 2017

出版系列

姓名	2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017
卷	2018-January

会议

会议	56th IEEE Annual Conference on Decision and Control, CDC 2017
国家/地区	澳大利亚
市	Melbourne
时期	12/12/17 → 15/12/17

访问文件

10.1109/CDC.2017.8264141

其它文件与链接

链接到 Scopus 的出版物

引用此

Guo, Q., Wang, Q., Zuo, Z., Zhang, Y., Jiang, D., & Shi, Y. (2017). Parametric adaptive control of electro-hydraulic system driving two-DOF robotic arm. 在 2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017 (页码 3283-3288). (2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017; 卷 2018-January). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2017.8264141

@inproceedings{f378f61620cf4b4290edf1e6277a3d09,

title = "Parametric adaptive control of electro-hydraulic system driving two-DOF robotic arm",

abstract = "In this paper, a parametric adaptive control of electro-hydraulic system (EHS) is proposed to drive the motion of two-degree-of-freedom robotic arm. Due to the unknown load disturbance from the driven force/torque of the robotic arm and the existing hydraulic parametric uncertainty, a parametric adaptive estimation law is designed to estimate the unknown bound of equivalent integrated disturbance. Then a backstep-ping controller is designed to guarantee the system stability and the dynamic tracking performance of EHS. The comparative experimentation results with conventional PI controller has verified the effectiveness of the proposed controller.",

author = "Qing Guo and Qiang Wang and Zongyu Zuo and Yi Zhang and Dan Jiang and Yan Shi",

note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 56th IEEE Annual Conference on Decision and Control, CDC 2017 ; Conference date: 12-12-2017 Through 15-12-2017",

year = "2017",

month = jun,

day = "28",

doi = "10.1109/CDC.2017.8264141",

language = "英语",

series = "2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "3283--3288",

booktitle = "2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017",

address = "美国",

}

Guo, Q, Wang, Q, Zuo, Z, Zhang, Y, Jiang, D & Shi, Y 2017, Parametric adaptive control of electro-hydraulic system driving two-DOF robotic arm. 在 2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017. 2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017, 卷 2018-January, Institute of Electrical and Electronics Engineers Inc., 页码 3283-3288, 56th IEEE Annual Conference on Decision and Control, CDC 2017, Melbourne, 澳大利亚, 12/12/17. https://doi.org/10.1109/CDC.2017.8264141

Parametric adaptive control of electro-hydraulic system driving two-DOF robotic arm. / Guo, Qing; Wang, Qiang; Zuo, Zongyu 等.
2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017. Institute of Electrical and Electronics Engineers Inc., 2017. 页码 3283-3288 (2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017; 卷 2018-January).

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

TY - GEN

T1 - Parametric adaptive control of electro-hydraulic system driving two-DOF robotic arm

AU - Guo, Qing

AU - Wang, Qiang

AU - Zuo, Zongyu

AU - Zhang, Yi

AU - Jiang, Dan

AU - Shi, Yan

PY - 2017/6/28

Y1 - 2017/6/28

N2 - In this paper, a parametric adaptive control of electro-hydraulic system (EHS) is proposed to drive the motion of two-degree-of-freedom robotic arm. Due to the unknown load disturbance from the driven force/torque of the robotic arm and the existing hydraulic parametric uncertainty, a parametric adaptive estimation law is designed to estimate the unknown bound of equivalent integrated disturbance. Then a backstep-ping controller is designed to guarantee the system stability and the dynamic tracking performance of EHS. The comparative experimentation results with conventional PI controller has verified the effectiveness of the proposed controller.

AB - In this paper, a parametric adaptive control of electro-hydraulic system (EHS) is proposed to drive the motion of two-degree-of-freedom robotic arm. Due to the unknown load disturbance from the driven force/torque of the robotic arm and the existing hydraulic parametric uncertainty, a parametric adaptive estimation law is designed to estimate the unknown bound of equivalent integrated disturbance. Then a backstep-ping controller is designed to guarantee the system stability and the dynamic tracking performance of EHS. The comparative experimentation results with conventional PI controller has verified the effectiveness of the proposed controller.

UR - https://www.scopus.com/pages/publications/85046140032

U2 - 10.1109/CDC.2017.8264141

DO - 10.1109/CDC.2017.8264141

M3 - 会议稿件

AN - SCOPUS:85046140032

T3 - 2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017

SP - 3283

EP - 3288

BT - 2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 56th IEEE Annual Conference on Decision and Control, CDC 2017

Y2 - 12 December 2017 through 15 December 2017

ER -

Guo Q, Wang Q, Zuo Z, Zhang Y, Jiang D, Shi Y. Parametric adaptive control of electro-hydraulic system driving two-DOF robotic arm. 在 2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017. Institute of Electrical and Electronics Engineers Inc. 2017. 页码 3283-3288. (2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017). doi: 10.1109/CDC.2017.8264141

Parametric adaptive control of electro-hydraulic system driving two-DOF robotic arm

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