Nonlinear control of hydraulic robots

Nonlinear control of hydraulic robots

| This paper addresses the control problem of hydraulic robot manipulators. The backstepping design methodology is adopted to develop a novel nonlinear position tracking controller. The tracking errors are shown to be exponentially stable under the proposed control law. The controller is further augmentedwith adaptation laws to compensate for parametric uncertainties in the system dynamics. Acc...

Nonlinear Adaptive Fuzzy Control for Hydraulic Robots

In this paper, a novel adaptive fuzzy controller (AFC) is proposed to deal with the control problem of a parallel robot consisting of a Stewart platform and hydraulic actuators. Specifically, only two signals are measured from the robot system, namely, the leg displacements through Linear Variable Differential Transformer (LVDT) and the current change with Hall sensor. To cope with the difficul...

Control of Flexible Robots with Prismatic Joints and Hydraulic Drives"

The design and control of R. L. Kress Oak Ridge National Laboratory Robotics and Process Systems Division P. 0. Box 2008 Oak Ridge, Tennessee 37831-6426

Trajectory tracking of under-actuated nonlinear dynamic robots: Adaptive fuzzy hierarchical terminal sliding-mode control

In recent years, underactuated nonlinear dynamic systems trajectory tracking, such as space robots and manipulators with structural flexibility, has become a major field of interest due to the complexity and high computational load of these systems. Hierarchical sliding mode control has been investigated recently for these systems; however, the instability phenomena will possibly occur, especia...

Nonlinear Control Of Wheeled Mobile Robots