In this paper, a nonlinear control scheme is developed for performing a cooperative task by hydraulic manipulators. The goal is to design a controller that allows two or more hydraulic robots to coordinately regulate an object’s position/orientation while maintaining desired internal forces on the object and sharing load. First the dynamic model of the whole system, including hydraulic functions, is derived. Then, a controller is designed, augmented by an on-line updating law to eliminate the steady-state error due to lack of knowledge about the weight of the object. Extended Lyapunov’s second method is used for stability analysis of the control system. The stability of the system is guaranteed by constructing a smooth Lyapunov function. Simulations are performed to substantiate the controller developed.
Design of a Nonlinear Position Regulator for Cooperating Hydraulic Manipulators Handling a Rigid Object
Zeng, H, & Sepehri, N. "Design of a Nonlinear Position Regulator for Cooperating Hydraulic Manipulators Handling a Rigid Object." Proceedings of the ASME 2004 International Mechanical Engineering Congress and Exposition. Dynamic Systems and Control, Parts A and B. Anaheim, California, USA. November 13–19, 2004. pp. 361-368. ASME. https://doi.org/10.1115/IMECE2004-61241
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