A Combined Scheme for Identification and Robust Torque Control of Hydraulic Actuators

[+] Author and Article Information
Mehrzad Namvar, Farhad Aghili

Canadian Space Agency, 6767 route de l’Aeroport, Saint-Hubert, Quebec, Canada J3Y 8Y9

J. Dyn. Sys., Meas., Control 125(4), 595-606 (Jan 29, 2004) (12 pages) doi:10.1115/1.1636777 History: Received March 13, 2002; Revised April 11, 2003; Online January 29, 2004
Copyright © 2003 by ASME
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Structure of the cascade torque controller
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Schilling industrial robot
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Experimental verification of actuator zero dynamics stability as stated by Proposition 1
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Case A: Additive model structure. G⁁ is a model for integrator.
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Case B1: Model structure for representation of uncertainty in bulk modulus coefficient when load dynamics is stable. G⁁−1 is a model for integrator.
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Limit-cycle in actuator dynamics in presence of high-gain external controller
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Validation of the nonlinear model, u: ’—’ versus u⁁: ’--’
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Frequency response of the linear model G⁁ for v−τ map in model structure (21)
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Frequency responses of the resulting input and output sensitivity functions together with the weighting functions
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Effect of external torque on the generated torque. The value of τ/‖ω‖ when τref≡0 is shown in two different cases. (a): a pure linear controller, (b): the proposed composite controller.
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Step tracking of the actuator torque in presence of velocity
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0.5 Hz sine tracking in presence of velocity, --: Reference
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2 Hz sine tracking in presence of velocity, --: Reference
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5 Hz sine tracking in presence of velocity, --: Reference
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Step tracking of the actuator torque in absence of velocity
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0.5 Hz sine tracking in absence of velocity, --: Reference
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2 Hz sine tracking in absence of velocity, --: Reference
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5 Hz sine tracking in absence of velocity, --: Reference




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