TY - GEN
T1 - Nonlinear Disturbance Attenuation Control of Hydraulic Robotics
AU - Lu, Peng
AU - Sandy, Timothy
AU - Buchli, Jonas
PY - 2018/7/2
Y1 - 2018/7/2
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85064121992&partnerID=8YFLogxK
U2 - 10.1109/ROBIO.2018.8664760
DO - 10.1109/ROBIO.2018.8664760
M3 - Conference article published in proceeding or book
AN - SCOPUS:85064121992
T3 - 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018
SP - 1451
EP - 1458
BT - 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018
Y2 - 12 December 2018 through 15 December 2018
ER -