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 quoteHowever, 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 quoteDesign, 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 quoteAbstract: 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 quoteBesides, 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 quoteThis 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
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Get a quoteMay 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 quoteJun 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 quoteApr 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 quoteBased 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 quoteThis 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 quotehowever, 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 quoteSTATE 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
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Get a quoteusing 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 quoteThis 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 quoteA 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 quotePrevious 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 quoteDec 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.
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