Comparison of some control strategies for a hydraulic manipulator

M Tochizawa, K A Edge

Research output: Contribution to conferencePaper

4 Citations (Scopus)

Abstract

A simulation and experimental study of the control of a two-axis servo-hydraulic manipulator has been undertaken. The objective was to control each axis independently with the aim of achieving good tracking performance for a wide range of payloads and for different configurations. For hydraulic systems, which comprise many components with non-linear characteristics, a controller which is robust against changes in dynamic characteristics and disturbances is required. In this study a disturbance observer scheme and an adaptive control scheme were compared with a classical controller. A simulation study was undertaken to assist in controller design and the selection of controller parameters. This was done using the Bathfp simulation package. Each control method was also tested experimentally. For one particular configuration the classic controller with fixed gains could not achieve the required tracking accuracy target of &plusmn2 [mm] for the largest payload of 90 [kg]. However, the disturbance observer and the adaptive controller met this target and in general the accuracy of these schemes over a wide range of manipulator configurations and payloads was much better than with the classic controller. In particular, with the disturbance observer, the accuracy improved remarkably. The adaptive controller exhibited larger tracking errors at start up due to the difficulty in setting initial values of the parameter estimates
Original languageEnglish
Pages744-748
Number of pages5
Publication statusPublished - 1999
EventProc of the American Control Conference - San Diego, CA, USA United States
Duration: 1 Jan 1999 → …

Conference

ConferenceProc of the American Control Conference
CountryUSA United States
CitySan Diego, CA
Period1/01/99 → …

Fingerprint

Manipulators
Hydraulics
Controllers
Target tracking

Cite this

Tochizawa, M., & Edge, K. A. (1999). Comparison of some control strategies for a hydraulic manipulator. 744-748. Paper presented at Proc of the American Control Conference, San Diego, CA, USA United States.

Comparison of some control strategies for a hydraulic manipulator. / Tochizawa, M; Edge, K A.

1999. 744-748 Paper presented at Proc of the American Control Conference, San Diego, CA, USA United States.

Research output: Contribution to conferencePaper

Tochizawa, M & Edge, KA 1999, 'Comparison of some control strategies for a hydraulic manipulator' Paper presented at Proc of the American Control Conference, San Diego, CA, USA United States, 1/01/99, pp. 744-748.
Tochizawa M, Edge KA. Comparison of some control strategies for a hydraulic manipulator. 1999. Paper presented at Proc of the American Control Conference, San Diego, CA, USA United States.
Tochizawa, M ; Edge, K A. / Comparison of some control strategies for a hydraulic manipulator. Paper presented at Proc of the American Control Conference, San Diego, CA, USA United States.5 p.
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