Non-linear optimal control for multi-DOF electro-hydraulic robotic manipulators

Non-linear optimal control for multi-DOF electro-hydraulic robotic manipulators

A non-linear optimal (H-infinity) control approach is proposed for the dynamic model of multi-degree-of-freedom (DOF) electro-hydraulic robotic manipulators. Control of electro-hydraulic manipulators is a non-trivial problem because of their non-linear and multi-variable dynamics. In this study, the...

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Bibliographic Details
Main Authors: Gerasimos Rigatos, Nikolaos Zervos, Masoud Abbaszadeh, Jorge Pomares, Patrice Wira
Format: Article
Language:English
Published: Wiley 2020-04-01
Series:IET Cyber-systems and Robotics
Subjects:
control system synthesis
electrohydraulic control equipment
linearisation techniques
lyapunov methods
riccati equations
stability
feedback
adaptive control
nonlinear control systems
jacobian matrices
manipulator dynamics
first-order taylor series expansion
linearisation
lyapunov analysis
algebraic riccati equation
h-infinity feedback controller stabilization
approximate linearisation
multidegree-of-freedom electro-hydraulic robotic manipulators
nonlinear optimal control
state-space model
rotary electro-hydraulic drives
multilink robotic manipulator
multivariable dynamics
dynamic model
multidof electro-hydraulic robotic manipulators
Online Access:https://digital-library.theiet.org/content/journals/10.1049/iet-csr.2020.0003

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https://digital-library.theiet.org/content/journals/10.1049/iet-csr.2020.0003

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