Observer-Based Adaptive Robust Precision Motion Control of a Multi-Joint Hydraulic Manipulator

Zheng Chen; Shizhao Zhou; Chong Shen; Litong Lyu; Junhui Zhang; Bin Yao

doi:10.1109/JAS.2024.124209

Volume 11 Issue 5

May 2024

IEEE/CAA Journal of Automatica Sinica

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Article Navigation > IEEE/CAA Journal of Automatica Sinica > 2024 > 11(5): 1213-1226

Z. Chen, S. Zhou, C. Shen, L. Lyu, J. Zhang, and B. Yao, “Observer-based adaptive robust precision motion control of a multi-joint hydraulic manipulator,” IEEE/CAA J. Autom. Sinica, vol. 11, no. 5, pp. 1213–1226, May 2024. doi: 10.1109/JAS.2024.124209

Citation:

Z. Chen, S. Zhou, C. Shen, L. Lyu, J. Zhang, and B. Yao, “Observer-based adaptive robust precision motion control of a multi-joint hydraulic manipulator,” IEEE/CAA J. Autom. Sinica, vol. 11, no. 5, pp. 1213–1226, May 2024. doi: 10.1109/JAS.2024.124209

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Observer-Based Adaptive Robust Precision Motion Control of a Multi-Joint Hydraulic Manipulator

doi: 10.1109/JAS.2024.124209

Funds: This work was supported by the National Natural Science Foundation of China (52075476, 52105065, 92048302), Zhejiang Provincial Natural Science Foundation of China (LR23E050001), and the Science and Technology Program of Hebei (E2021210011)

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Author Bio:
Zheng Chen (Senior Member, IEEE) received the B.Eng. and Ph.D. degrees in mechatronic control engineering from Zhejiang University in 2007 and 2012, respectively. From 2013 to 2015, he was a Postdoctoral Researcher with the Department of Mechanical Engineering, Dalhousie University, Canada. Since 2015, he has been with the Ocean College, Zhejiang University, where he was promoted to the rank of Professor in 2020. His research interests include advanced control of robotic and mechatronic system (e.g., nonlinear adaptive robust control, motion control, trajectory planning, tele-robotics, hydraulic system, precision mechatronic system, soft actuator and robot, mobile manipulator, and underwater robot and exoskeleton)

Shizhao Zhou received the B.Eng. degree in mechanical engineering in 2018 from Zhejiang University, where he is currently working toward the Ph.D. degree in marine technology and engineering. His research interests include advanced control and teleoperation of hydraulic manipulators

Chong Shen received the B.Eng. degree in ocean engineering in 2021 from Zhejiang University, where he is currently working toward the Ph.D. degree in marine technology and engineering. His research interests include optimal design and advanced control of hydraulic and electric manipulators

Litong Lyu received the B.E. and Ph.D. degrees in mechatronics engineering from Zhejiang University, in 2015 and 2020, respectively. Since 2020, he has been with the School of Mechanical Engineering, Shijiazhuang Tiedao University, where he is now an Associate Professor. His research interests include nonlinear control of mechatronic systems especially hydraulic actuation systems

Junhui Zhang received the B.S. degree in 2007 and the Ph.D. degree in 2012, both from Zhejiang University. He is currently a Researcher at the State Key Laboratory of FluidPower and Mechatronic Systems, Zhejiang University. His research interests include high-speed hydraulic pumps/motors, and hydraulic robots. He is supported by the National Science Fund for Excellent Young Scholars. He is also a Technical Editor of IEEE-ASME Transactions on Mechatronics

Bin Yao received the Ph.D. degree in mechanical engineering from the University of California at Berkeley in 1996 after received the M.Eng. degree in electrical engineering from Nanyang Technological University of Singapore, Singapore in 1992 and the B.Eng. degree in applied mechanics from Beijing University of Aeronautics and Astronautics in 1987. He has been with the School of Mechanical Engineering at Purdue University, USA since 1996 and was promoted to the rank of Professor in 2007. He was also honored as a Kuang-Piu Professor in 2005 and a Changjiang Chair Professor at Zhejiang University by the Ministry of Education of China in 2010. His research interests include nonlinear adaptive robust control theory and the application of advanced control systems
Corresponding author: Litong Lyu, e-mail: litong_lyu@stdu.edu.cn; Junhui Zhang, e-mail: benzjh@zju.edu.cn
Received Date: 2023-10-17
Revised Date: 2023-11-28
Accepted Date: 2023-12-21

Available Online: 2024-02-19

Abstract

Abstract

Hydraulic manipulators are usually applied in heavy-load and harsh operation tasks. However, when faced with a complex operation, the traditional proportional-integral-derivative (PID) control may not meet requirements for high control performance. Model-based full-state-feedback control is an effective alternative, but the states of a hydraulic manipulator are not always available and reliable in practical applications, particularly the joint angular velocity measurement. Considering that it is not suitable to obtain the velocity signal directly from differentiating of position measurement, the low-pass filtering is commonly used, but it will definitely restrict the closed-loop bandwidth of the whole system. To avoid this problem and realize better control performance, this paper proposes a novel observer-based adaptive robust controller (obARC) for a multi-joint hydraulic manipulator subjected to both parametric uncertainties and the lack of accurate velocity measurement. Specifically, a nonlinear adaptive observer is first designed to handle the lack of velocity measurement with the consideration of parametric uncertainties. Then, the adaptive robust control is developed to compensate for the dynamic uncertainties, and the close-loop system robust stability is theoretically proved under the observation and control errors. Finally, comparative experiments are carried out to show that the designed controller can achieve a performance improvement over the traditional methods, specifically yielding better control accuracy owing to the closed-loop bandwidth breakthrough, which is limited by low-pass filtering in full-state-feedback control.
- Hydraulic manipulator,
- nonlinear adaptive observer,
- parameter adaptation,
- robust control

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References

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Not like the velocity state in traditional observers, the velocity-related intermediate state is observed according to the adaptive model parameters of the hydraulic manipulator in this paper. In this way, the observer is able to take the model uncertainties into consideration through online parameter adaptation
Apart from the observed object states being different, obARC does not require accurate observation results, but rather focuses on combining the differential equation of state observation with the intermediate steps of controller design, thereby eliminating the dependence of the control effect on the observation accuracy and achieving the goal of further improving the final control accuracy
The controller designed in this paper can theoretically prove the stability of the closed-loop system in the presence of model parameter uncertainty, uncertain nonlinearity, observation errors, and other factors
The designed controller can achieve the performance improvement by comparison with the traditional methods, especially with better control accuracy due to the closed-loop bandwidth breakthrough which is limited by low-pass filtering in full-state-feedback control. The proposed method is significant for hydraulic manipulators used in some harsh environments and unable to be equipped with various of accurate sensors

Observer-Based Adaptive Robust Precision Motion Control of a Multi-Joint Hydraulic Manipulator

doi: 10.1109/JAS.2024.124209

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