https://scholars.lib.ntu.edu.tw/handle/123456789/393113
標題: | Observer-based backstepping control of a 6-dof parallel hydraulic manipulator | 作者: | Chen, S.-H. LI-CHEN FU |
關鍵字: | Backstepping control; Friction compensation; Hydraulic actuator; Nonlinear observer; Stewart platform | 公開日期: | 2015 | 卷: | 36 | 起(迄)頁: | 100-112 | 來源出版物: | Control Engineering Practice | 摘要: | In this paper, a backstepping control strategy is proposed to control the 6-dof parallel hydraulic manipulator (Stewart platform) while incorporating an observer-based forward kinematics solver. Different from conventional control methods, the proposed control considers not only the platform dynamics but also the dynamics of the hydraulic actuator. One feature of this work is employing the observer-based forward kinematics solution to achieve the posture tracking goal successfully only with the measurement of actuators lengths. When designing the controller of hydraulic actuators, the friction compensation is applied to improve the performance. The stability of the whole system is thoroughly proved to ensure convergence of the control errors. Simulations and experimental results are presented to validate the hereby proposed results. © 2014 Elsevier Ltd. |
URI: | http://www.scopus.com/inward/record.url?eid=2-s2.0-84921370328&partnerID=MN8TOARS http://scholars.lib.ntu.edu.tw/handle/123456789/393113 |
ISSN: | 09670661 | DOI: | 10.1016/j.conengprac.2014.11.011 | SDG/關鍵字: | Actuators; Backstepping; Friction; Kinematics; Manipulators; Stiction; Back-stepping controls; Conventional control; Forward kinematics; Forward kinematics solutions; Friction compensation; Hydraulic manipulator; Non-linear observer; Stewart platforms; Hydraulic actuators |
顯示於: | 資訊工程學系 |
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