Proportional-integral-plus control applications of state
Nov 01, 2007 · Abstract. This paper considers proportional-integral-plus (PIP) control of non-linear systems defined by state-dependent parameter models, with particular emphasis on three practical demonstrators: a microclimate test chamber, a 1/5th-scale laboratory representation of an intelligent excavator, and a full-scale (commercial) vibrolance system used for ground improvement on a …
Get a quote
[PDF] COMPARISON OF CLASSICAL AND MODERN CONTROL APPLIED
However, a persistent stumbling block for system developers is the achievement of fast smooth movement of the excavator arm under automatic control. In this regard, the paper develops two very different design methods, a model-based, full state feedback approach and a classical frequency domain technique based on the Nichols chart.
Get a quote
(PDF) Design, Simulation and Implementation of a Class of
Design, Simulation and Implementation of a Class of True Digital Control (TDC) Applied to Natural Gas Burner By Essam Shaban State Dependent Parameter, Proportional-Integral-Plus (SDP-Pip) Control of a Nonlinear Robot Digger Arm
Get a quote
Design of robotic excavator arm control utilizing
Abstract: Following up the task of design and implementation of intelligent control system for a robotic excavator in the project of Lancaster University computerised and intelligent excavator (LUCIE), this paper focuses on the joint arms control system design for low level control in automatic excavation. Based on the data based excavator dynamic models using simplified …
Get a quote
(PDF) Guaranteed Control of a Robotic Excavator During
Besides, in one of contribution to solve the problem of robotic the papers (Gu et al., 2012) a proportional-integral- excavator creating, but a commercial fully robotic plus (PIP) controller and a nonlinear PIP controller excavator will probably appear not soon due to the based on a state-depended parameter model structure mentioned above
Get a quote
Proportional-integral-plus control of robotic excavator
This paper is concerned with the design of a control system for a robotic excavator known as the Lancaster University Computerised and Intelligent Excavator (LUCIE). A nonlinear proportional-integral-plus (PIP) control algorithm is developed for regulating movement of excavator arm. The nonlinear dynamics of the hydraulic driven arm is represented using the quasi-linear state-dependent
Get a quote
Passion For Great Food!!!
Nov 03, 2010 · 1. 10.oz can Cream of Mushroom Soup. 1/4 tsp Pepper. 1 tsp Thyme. 10 oz whole milk. 4 tbsp Hot Sauce. 5 tbsp Honey Barbecue Sauce. 2 tbsp Caesar Salad Dressing. In a pot, combine mushroom soup,pepper,thyme,and milk. until boiling, then add hot sauce,bbq sauce,and salad dressing. blend until creamy. Taste it,Love it, and Enj0y it.
Get a quote
Trajectory Tracking Control of an Excavator Arm Using
May 15, 2016 · Therefore, this paper deals with the problem of robust trajectory tracking control of an excavator bucket during digging. The optimal inverse kinematic solution is used to determine the joint angles, given in the base coordinate system. To control an excavator arm movement, the computed torque control with the guaranteed cost control is designed.
Get a quote
Modeling and parameter estimation for hydraulic system of
Jun 04, 2008 · Control of a heavy-duty robotic excavator using time delay control with integral sliding surface [J] Lee, S. U.; Chang, H. C. Robust low level control of robotic excavation [D]
Get a quoteRobotic excavator motion control using a nonlinear
Apr 01, 2016 · A nonlinear proportional integral controller with pre-compensation is designed. • Performance of proportional integral controller and the new one is compared. • Cross-coupled pre-compensation will reduce tracking error of bucket tip. • Tracking error can be reduced to 2-9 cm according to the planned trajectory.
Get a quote
Digital Servo Control of a Robotic Excavator -
Based on data-based model and proportional-integral-plus (PIP) methodology, which is a non-minimal state space method of control system design based on the true digital control (TDC) system design philosophy, a novel control system is introduced to drive the excavator arm accurately, quickly and smoothly along the desired path.
Get a quote
Essam Shaban | Jazan University - Academia.edu
This paper considers nonlinear Proportional-Integral-Plus (PIP) control of construction robots, with particular emphasis on two practical demonstrators: a 1/5th scale laboratory representation of an intelligent excavator; and a full scale (commercial) vibro-lance system used for ground improvement on a construction site.
Get a quote
Proportional-Integral-Plus control of an Intelligent Excavator
however, control of the excavator arm has been based on the ubiquitous PI/PID type control algorithms, tuned on-line and implemented in a rather ad hoc manner. By contrast, the present research utilises model-based PIP design to improve the joint control and so provide smoother, more accurate movement of the excavator arm. The ultimate
Get a quote
STATE DEPENDENT PARAMETER, PROPORTIONAL …
STATE DEPENDENT PARAMETER, PROPORTIONAL-INTEGRAL-PLUS (SDP-PIP) CONTROL OF A NONLINEAR ROBOT DIGGER ARM E.M. Shaban*, C.J. Taylor* and A. Chotai+ *Engineering Department, +Environmental Science
Get a quote
KFC Franchisees Clucking Mad At Corporate Overlords
Aug 13, 2010 · Of particular annoyance to the franchisees was Eaton's decision to launch the "Unthink KFC" ad campaign in 2009. The ads and marketing for the campaign attempted to shift the focus away from
Get a quote
Robust Motion Control for Mobile Manipulator Using
using diffeomorphic transformations and the resulting Mailah, M.; Pitowarno, E. & Jamaluddin, H. / Robust Motion Control for Mobile Manipulator Using Resolved Acceleration and Proportional-Integral Active Force Control, pp. 125 - 134, International Journal of Advanced Robotic Systems, Volume 2, Number 2 (2005), ISSN 1729-8806
Get a quote
Proportional-Integral-Plus Control of Robotic Excavator
This paper is concerned with the design of a control system for a robotic excavator known as the Lancaster University Computerised and Intelligent Excavator (LUCIE). A nonlinear proportional-integral-plus (PIP) control algorithm is developed for regulating movement of excavator arm. The nonlinear dynamics of the hydraulic driven arm is represented using the quasi-linear state …
Get a quote
Proportional-integral-plus control of robotic excavator
A nonlinear proportional-integral-plus (PIP) control algorithm is developed for regulating movement of excavator arm. The nonlinear dynamics of the hydraulic driven arm is represented using the quasi-linear state-dependent parameter (SDP) model, in which the parameters are functionally dependent on other variables in the system.
Get a quote
Proportional-Integral-Plus Control Strategy of an
Previous work using LUCIE was based on the ubiquitous PI/PID control algorithm, tuned on-line, and implemented in a rather ad hoc manner. By contrast, the present research utilizes new hardware and advanced model-based control system design methods to improve the joint control and so provide smoother, more accurate movement of the excavator arm.
Get a quote
Proportional‐Integral‐Plus Control of an Intelligent Excavator
Dec 08, 2003 · Abstract: This article considers the application of Proportional‐Integral‐Plus (PIP) control to the Lancaster University Computerised Intelligent Excavator (LUCIE), which is being developed to dig foundation trenches on a building site. Previous work using LUCIE was based on the ubiquitous PI/PID control algorithm, tuned on‐line, and implemented in a rather ad hoc manner.
Get a quote