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

作     者：Henikl, Johannes Kemmetmueller, Wolfgang Meurer, Thomas Kugi, Andreas 

作者机构：Vienna Univ Technol Automat & Control Inst A-1040 Vienna Austria Univ Kiel Chair Automat Control Kiel Germany 

出 版 物：《AUTOMATICA》 (自动学)

年 卷 期：2016年第63卷

页      面：101-115页

核心收录：

学科分类：0711[理学-系统科学] 0808[工学-电气工程] 07[理学] 08[工学] 070105[理学-运筹学与控制论] 081101[工学-控制理论与控制工程] 0811[工学-控制科学与工程] 0701[理学-数学] 071101[理学-系统理论] 

基　　金：TTControl GmbH Austrian Research Promotion Agency (FFG) 

主　　题：Flexible link manipulator Hydraulic actuators Concrete pump Feedback control Distributed-parameter systems Passivity Euler-Bernoulli beams 

摘      要：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.