Infinite-dimensional decentralized damping control of large-scale manipulators with hydraulic actuation

Henikl, J., Kemmetmuller, W., Meurer, Thomas and Kugi, A. (2016) Infinite-dimensional decentralized damping control of large-scale manipulators with hydraulic actuation Automatica, 63 . pp. 101-115. DOI http://dx.doi.org/10.1016/j.automatica.2015.10.024.

Full text not available from this repository.

Supplementary data:

Abstract

The control design for decentralized active damping of large-scale manipulators with hydraulic actuation is considered in a distributed-parameter framework. The concepts of modern light-weight construction enable the production of machines like mobile concrete pumps or maritime crane systems with extended operating range and less static load. However, due to the reduced weight the elasticity of the construction elements has a significant influence on the dynamic behavior of the boom. In this paper, a modular decentralized control strategy is presented and the asymptotic stability of the closed-loop system is rigorously proven in the infinite-dimensional setting. The proposed damping control strategy features a robust behavior since it is independent of the number and pose of the boom segments and of the exact knowledge of the system parameters. At the end, the practical implementation of the control strategy is discussed and validated by means of measurements on an industrial mobile concrete pump with four joints and an operating range of about 40 m. (C) 2015 Elsevier Ltd. All rights reserved.

Document Type: Article
Additional Information: Times Cited: 0 Henikl, Johannes Kemmetmueller, Wolfgang Meurer, Thomas Kugi, Andreas
Research affiliation: Kiel University
OceanRep > The Future Ocean - Cluster of Excellence
Refereed: Yes
DOI etc.: http://dx.doi.org/10.1016/j.automatica.2015.10.024
ISSN: 0005-1098
Projects: Future Ocean
Date Deposited: 07 Mar 2017 10:31
Last Modified: 07 Mar 2017 10:31
URI: http://eprints.uni-kiel.de/id/eprint/36127

Actions (login required)

View Item View Item