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

Yingzhi Huang

Research output: ThesisDissertation (TU Delft)

80 Downloads (Pure)

Abstract

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.
Original languageEnglish
QualificationDoctor of Philosophy
Awarding Institution
  • Delft University of Technology
Supervisors/Advisors
  • Mulder, M., Supervisor
  • Chu, Q., Supervisor
  • Pool, D.M., Advisor
Award date18 Mar 2019
Print ISBNs978-94-028-1419-4
DOIs
Publication statusPublished - 2019

Keywords

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

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