Abstract
In this paper different linear and non-linear controllers applied to a hydraulically driven servo robot are evaluated and validated. The task is to make the actuators of the manipulator track a position reference with minimum error. Hydraulic systems are intrinsically non-linear and using linear control techniques typically results in conservatively dimensioned controllers to obtain stable performance. Non-linear control techniques have the potential of overcoming these problems and in this paper the focus is on applying simple nonlinear robust and adaptive controllers feasible for implementation in industrial servo drives. The different controllers are compared and evaluated from simulation and experimental results.
Originalsprog | Engelsk |
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Titel | Proceedings of the 2013 IEEE International Conference on Mechatronics and Automation (ICMA) |
Antal sider | 7 |
Forlag | IEEE Press |
Publikationsdato | 2013 |
Sider | 342-347 |
ISBN (Trykt) | 978-1-4673-5557-5 , 9781467355599 |
ISBN (Elektronisk) | 9781467355582, 978-1-4673-5560-5 |
DOI | |
Status | Udgivet - 2013 |
Begivenhed | IEEE International Conference on the Mechatronics and Automation, ICMA 2013 - Takamatsu, Kagawa, Japan Varighed: 4 aug. 2013 → 7 aug. 2013 |
Konference
Konference | IEEE International Conference on the Mechatronics and Automation, ICMA 2013 |
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Land/Område | Japan |
By | Takamatsu, Kagawa |
Periode | 04/08/2013 → 07/08/2013 |