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
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 band-width 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 band-width breakthrough, which is limited by low-pass filtering in full-state-feedback control.