Experimental evaluation of control strategies for hydraulic servo robot

Michael Møller Bech; Torben Ole Andersen; Henrik C. Pedersen; Lasse Schmidt

doi:10.1109/ICMA.2013.6617942

Experimental evaluation of control strategies for hydraulic servo robot

AAU Energy

Research output: Contribution to book/anthology/report/conference proceeding › Article in proceeding › Research › peer-review

27 Citations (Scopus)

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.

Original language	English
Title of host publication	Proceedings of the 2013 IEEE International Conference on Mechatronics and Automation (ICMA)
Number of pages	7
Publisher	IEEE Press
Publication date	2013
Pages	342-347
ISBN (Print)	978-1-4673-5557-5 , 9781467355599
ISBN (Electronic)	9781467355582, 978-1-4673-5560-5
DOIs	https://doi.org/10.1109/ICMA.2013.6617942
Publication status	Published - 2013
Event	IEEE International Conference on the Mechatronics and Automation, ICMA 2013 - Takamatsu, Kagawa, Japan Duration: 4 Aug 2013 → 7 Aug 2013

Conference

Conference	IEEE International Conference on the Mechatronics and Automation, ICMA 2013
Country/Territory	Japan
City	Takamatsu, Kagawa
Period	04/08/2013 → 07/08/2013

Keywords

Robot
Hydraulic
Non-linear Control
Adaptive
Sliding mode

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10.1109/ICMA.2013.6617942

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title = "Experimental evaluation of control strategies for hydraulic servo robot",

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.",

keywords = "Robot, Hydraulic, Non-linear Control, Adaptive, Sliding mode",

author = "Bech, \{Michael M{\o}ller\} and Andersen, \{Torben Ole\} and Pedersen, \{Henrik C.\} and Lasse Schmidt",

year = "2013",

doi = "10.1109/ICMA.2013.6617942",

language = "English",

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pages = "342--347 ",

booktitle = "Proceedings of the 2013 IEEE International Conference on Mechatronics and Automation (ICMA)",

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note = "IEEE International Conference on the Mechatronics and Automation, ICMA 2013 ; Conference date: 04-08-2013 Through 07-08-2013",

}

Bech, MM, Andersen, TO, Pedersen, HC & Schmidt, L 2013, Experimental evaluation of control strategies for hydraulic servo robot. in Proceedings of the 2013 IEEE International Conference on Mechatronics and Automation (ICMA) . IEEE Press, pp. 342-347 , IEEE International Conference on the Mechatronics and Automation, ICMA 2013 , Takamatsu, Kagawa, Japan, 04/08/2013. https://doi.org/10.1109/ICMA.2013.6617942

Experimental evaluation of control strategies for hydraulic servo robot. / Bech, Michael Møller; Andersen, Torben Ole; Pedersen, Henrik C. et al.
Proceedings of the 2013 IEEE International Conference on Mechatronics and Automation (ICMA) . IEEE Press, 2013. p. 342-347 .

Research output: Contribution to book/anthology/report/conference proceeding › Article in proceeding › Research › peer-review

TY - GEN

T1 - Experimental evaluation of control strategies for hydraulic servo robot

AU - Bech, Michael Møller

AU - Andersen, Torben Ole

AU - Pedersen, Henrik C.

AU - Schmidt, Lasse

PY - 2013

Y1 - 2013

N2 - 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.

AB - 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.

KW - Robot

KW - Hydraulic

KW - Non-linear Control

KW - Adaptive

KW - Sliding mode

UR - https://www.scopus.com/pages/publications/84887940728

U2 - 10.1109/ICMA.2013.6617942

DO - 10.1109/ICMA.2013.6617942

M3 - Article in proceeding

SN - 978-1-4673-5557-5

SN - 9781467355599

SP - 342

EP - 347

BT - Proceedings of the 2013 IEEE International Conference on Mechatronics and Automation (ICMA)

PB - IEEE Press

T2 - IEEE International Conference on the Mechatronics and Automation, ICMA 2013

Y2 - 4 August 2013 through 7 August 2013

ER -

Experimental evaluation of control strategies for hydraulic servo robot

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Keywords

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