Incremental nonlinear control of hydraulic parallel robots

Incremental nonlinear control of hydraulic parallel robots: An application to the SIMONA research simulator

Huang, Y. (TU Delft Control & Simulation)

Mulder, Max (promotor)
Chu, Q. P. (promotor)
Pool, D.M. (copromotor)

Delft University of Technology

2019-03-18

In advanced robotic applications such as robotic locomotion, vehicle and flight simulators, and material test devices, there are higher requirements on stiffness, robustness and power ability for the mechanical structure and the actuator. Hence, it is common for such applications to use parallel manipulators and hydraulic actuators, due to their advantages in these aspects over their counterparts of serialmanipulators and electrical actuators. When high-precision motion control is required for such systems, advanced model-based controllers, including feedback linearization and adaptive control, have been proposed in state-of-the-art studies for both hydraulic and parallel mechanical systems. However, the high complexity, nonlinearity and model uncertainty of these systems raise significant challenges for their motion control accuracy.

Parallel Robots
Motion Control
Hydraulic Robots
Force Control
Nonlinear Systems
Model Uncertainty
Robustness
Incremental Nonlinear Dynamic Inversion

https://doi.org/10.4233/uuid:79ff3197-2134-4057-8e6c-c3239e2f2a7b

978-94-028-1419-4

Institutional Repository

doctoral thesis

© 2019 Y. Huang