Nonlinear Disturbance Attenuation Control of Hydraulic Robotics

Peng Lu, Timothy Sandy, Jonas Buchli

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

5 Citations (Scopus)

Abstract

This paper presents a novel nonlinear disturbance rejection control for hydraulic robots. This method requires two third-order filters as well as inverse dynamics in order to estimate the disturbances. All the parameters for the third-order filters are pre-defined. The proposed method is nonlinear, which does not require the linearization of the rigid body dynamics. The estimated disturbances are used by the nonlinear controller in order to achieve disturbance attenuation. The performance of the proposed approach is compared with existing approaches. Finally, the tracking performance and robustness of the proposed approach is validated extensively on real hardware by performing different tasks under either internal or both internal and external disturbances. The experimental results demonstrate the robustness and superior tracking performance of the proposed approach.

Original languageEnglish
Title of host publication2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1451-1458
Number of pages8
ISBN (Electronic)9781728103761
DOIs
Publication statusPublished - 2 Jul 2018
Event2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018 - Kuala Lumpur, Malaysia
Duration: 12 Dec 201815 Dec 2018

Publication series

Name2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018

Conference

Conference2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018
Country/TerritoryMalaysia
CityKuala Lumpur
Period12/12/1815/12/18

ASJC Scopus subject areas

  • Biotechnology
  • Artificial Intelligence
  • Human-Computer Interaction

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