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Inventi Impact: Robotics

Articles

  • Inventi:erb/32811/20
    Parameter Identification and Control Algorithm of Electrohydraulic Servo System for Robotic Excavator Based on Improved Hammerstein Model
    Research 2020 : October - December
    Shen Jinxing, Cui Hongxin, Feng Ke, Zhang Hong, Li Huanliang

    In view of the nonlinearity and time-varying characteristics of the electrohydraulic servo system of the robotic excavator, a\nnonlinear adaptive identification and control algorithm based on improved Hammerstein model is proposed. The Hammerstein\nalgorithm model can approximate the nonlinear system with enough precision, but for the time-varying systems is not satisfactory.\nIn order to compensate for the influence of time-varying factors, the fuzzy control module is designed to adaptively update\nthe forgetting factor. The experimental results show that the improved Hammerstein model error is about 40.11% less than the\nclassical Hammerstein model error. This proves that the improved Hammerstein model is feasible and effective to describe the\nelectrohydraulic servo system of the robotic excavator.

    How to Cite this Article
    Attribution/ CC Compliant Citation:Jinxing, Shen, et al. \"Parameter Identification and Control Algorithm of Electrohydraulic Servo\nSystem for Robotic Excavator Based on Improved Hammerstein Model.\" Mathematical Problems in Engineering 2020 (2020).\nhttps://doi.org/10.1155/2020/9216019\nhttp://creativecommons.org/licenses/by/4.0/\nSome formatting elements, header, footer, logos, dates and pagination were modified while adapting this article.
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