Experimental evaluation of generalized predictive control applied to a hydraulic actuator

Robotica ◽  
1998 ◽  
Vol 16 (4) ◽  
pp. 463-474 ◽  
Author(s):  
N. Sepehri ◽  
G. Wu
Keyword(s):  
Predictive Control ◽  
Position Control ◽  
Generalized Predictive Control ◽  
Control Voltage ◽  
Hydraulic Actuator ◽  
Actuator Dynamics ◽  
Adaptive Controls ◽  
On Line ◽  
Voltage Saturation ◽  
Saturation Flow

This paper reports the results of an experimental study, which was conducted to evaluate the performance and implementation aspects of a generalized predictive control (GPC) technique to an electro-hydraulic positioning actuator. Poor dynamics and high nonlinearities form part of the difficulty in the control of hydraulic functions which make the application of adaptive controls an attractive solution. The applicability of GPC to the position control of hydraulic manipulator has been investigated through computer simulations in the literature. However, there is no experimental record of applying this technique to an actual hydraulic system. A suitable plant model is established and recursive U-D factorization technique is adopted for on-line estimation of time-varying plant parameters. Experimental results are obtained from a laboratory electrohydraulic actuator test stand. Various benchmark tests, comprising step and tracking inputs, demonstrate good performance and the promise of the technique. In spite of significant actuator dynamics (control voltage saturation, flow nonlinearity and dry frictional nonlinearity in the hydraulic actuator), successful control tests could be performed repetitively.

Performance of generalized predictive control with on-line model order determination for a hydraulic robotic manipulator

Robotica ◽  
1995 ◽  
Vol 13 (1) ◽  
pp. 55-64 ◽  
Author(s):  
A. Kotzev ◽  
D. B. Cherchas ◽  
P. D. Lawrence
Keyword(s):  
Predictive Control ◽  
Generalized Predictive Control ◽  
Hydraulic Actuator ◽  
Nonlinear Simulation ◽  
Model Order ◽  
Hydraulically Actuated ◽  
On Line ◽  
Predictor Model ◽  
Model Order Determination ◽  
Order Determination

SummaryThe research results described present the performance of the Generalized Predictive Control (GPC) algorithm with a changing estimator and predictor model order for a specific application. The application is a hydraulically actuated heavy duty manipulator. Hydraulically actuated robotic manipulators, used in the large resource based industries, have a complex dynamic response in which, primarily due to the hydraulic actuator subsystems, the order of the dynamic model is not initially known and can change as the manipulator is operated. A nonlinear simulation model of the manipulator system is utilized in the work and the GPC controller is implemented with a CARIMA estimator together with an on-line, gradient based estimator model order determination technique. The results given show that with proper use of the order determination technique cost function and tuning of the GPC parameters, good performance and stability can be achieved.

Modified Predictive Control for a Class of Electro-Hydraulic Actuator

2016 ◽  
Vol 6 (2) ◽  
pp. 630
Author(s):  
Abdulrahman A.A. Emhemed ◽  
Rosbi Bin Mamat ◽  
Ahmad ‘Athif Mohd Faudzi ◽  
Mohd Ridzuan Johary ◽  
Khairuddin Osman
Keyword(s):  
Simulation Model ◽  
Predictive Control ◽  
Position Control ◽  
Control Method ◽  
Quick Response ◽  
Control Parameters ◽  
System Matrix ◽  
Hydraulic Actuator ◽  
Matrix Formulation ◽  
Control Matrix

<span>Many model predictive control (MPC) algorithms have been proposed in the literature depending on the conditionality of the system matrix and the tuning control parameters. A modified predictive control method is proposed in this paper. The modified predictive method is based on the control matrix formulation combined with optimized move suppression coefficient. Poor dynamics and high nonlinearities are parts of the difficulties in the control of the Electro-Hydraulic Actuator (EHA) functions, which make the proposed matrix an attractive solution. The developed controller is designed based on simulation model of a position control EHA to reduce the overshoot of the system and to achieve better and smoother tracking. The performance of the designed controller achieved quick response and accurate behavior of the tracking compared to the previous study.</span>

scholarly journals Modified Predictive Control for a Class of Electro-Hydraulic Actuator

2016 ◽  
Vol 6 (2) ◽  
pp. 630
Author(s):  
Abdulrahman A.A. Emhemed ◽  
Rosbi Bin Mamat ◽  
Ahmad ‘Athif Mohd Faudzi ◽  
Mohd Ridzuan Johary ◽  
Khairuddin Osman
Keyword(s):  
Simulation Model ◽  
Predictive Control ◽  
Position Control ◽  
Control Method ◽  
Quick Response ◽  
Control Parameters ◽  
System Matrix ◽  
Hydraulic Actuator ◽  
Matrix Formulation ◽  
Control Matrix

<span>Many model predictive control (MPC) algorithms have been proposed in the literature depending on the conditionality of the system matrix and the tuning control parameters. A modified predictive control method is proposed in this paper. The modified predictive method is based on the control matrix formulation combined with optimized move suppression coefficient. Poor dynamics and high nonlinearities are parts of the difficulties in the control of the Electro-Hydraulic Actuator (EHA) functions, which make the proposed matrix an attractive solution. The developed controller is designed based on simulation model of a position control EHA to reduce the overshoot of the system and to achieve better and smoother tracking. The performance of the designed controller achieved quick response and accurate behavior of the tracking compared to the previous study.</span>

Generalized predictive control applied to the position control of a induction motor

2012 ◽  
Author(s):  
Antonio B. S. Junior ◽  
Francisco G. Sena ◽  
Bismark C. Torrico ◽  
Luiz H. S. C. Barreto ◽  
Samuel V. Dias ◽  
...  
Keyword(s):  
Induction Motor ◽  
Predictive Control ◽  
Position Control ◽  
Generalized Predictive Control

Generalized predictive control of a robotic manipulator with hydraulic actuators

Robotica ◽  
1992 ◽  
Vol 10 (5) ◽  
pp. 447-459 ◽  
Author(s):  
A. Kotzev ◽  
D. B. Cherchas ◽  
P. D. Lawrence ◽  
N. Sepehri
Keyword(s):  
Adaptive Control ◽  
Predictive Control ◽  
Control Algorithm ◽  
Generalized Predictive Control ◽  
Maximum Output ◽  
Hydraulic Actuators ◽  
Actuation System ◽  
Hydraulically Actuated ◽  
On Line ◽  
Adaptive Control Algorithm

SUMMARYThis paper presents some aspects of the behavior of hydraulically actuated heavy duty manipulators. This category of manipulators is used extensively in large resource based industries and any improvement in efficiency may result in major financial benefits. In this paper an adaptive control algorithm is used for a two rigid link manipulator driven by hydraulic actuators. The dynamic model of the manipulator is derived as well as the models of the hydraulic actuators including compliance, dead time and full dynamics of the servo valves. An adaptive control algorithm is considered since changes occur on-line in the system's parameters. The adaptive algorithm used is Generalized Predictive Control (GPC). The GPC uses a controlled autoregressive integrated moving average (CARIMA) type model and a cost function that minimizes a predicted future output error and future weighted control inputs to the plant, resulting in a sequence of future control increments. The procedure, in this work, does not separate the hydraulic actuator and the link dynamics into separate sub-systems, but controls them as one system. The changes in the system's parameters due to the hydraulics or the link dynamics can be estimated and the coefficients of the model adjusted without the necessity of identifying the exact cause of the changes.It was found in this work that the variations of the GPC control horizon can lead to faster response during transients and significantly reduced overshoot in the nonlinear hydraulic actuation system. An on-line change of the maximum output horizon is also introduced.This work shows the analysis and results of a two link manipulator with hydraulic actuators. It can be implemented on any hydraulically actuated manipulator with any number of links and actuators.Numerical simulations are performed on a Vax 3200 computer and the results are presented.

scholarly journals Experimental Results on Actuator/Sensor Failures in Adaptive GPC Position Control

Actuators ◽  
2021 ◽  
Vol 10 (3) ◽  
pp. 43
Author(s):  
Dariusz Horla
Keyword(s):  
Predictive Control ◽  
Position Control ◽  
Experimental Results ◽  
Generalized Predictive Control ◽  
Sensor Failure ◽  
Servo Drive ◽  
Sensor Failures ◽  
Control Framework ◽  
Free Case ◽  
Performance Deterioration

This work relates to the reliable generalized predictive control issues in the case when actuator or sensor failures take place. The experimental results that form the basis from which the conclusions are drawn from have been obtained in the position control of a servo drive task, and extend the results from the prior research of the author, dedicated to velocity control problems. On the basis of numerous experiments, it has been shown which configuration of prediction horizons is most advantageous from the control performance viewpoint in the adaptive generalized predictive control framework, to cope with the latter failures, and related to a minimum performance deterioration in comparison with the nominal, i.e., failure-free, case. This case study is the main novelty of the presented work, as the other papers available in the field rather focus on additional modifications of the predictive control framework, and not leaving possible room for optimization/alteration of prediction horizons’ values. The results are shown on the basis of the experiments conducted on the laboratory stand with the Modular Servo System of Inteco connected to a mechanical backlash module to cause actuator/sensor failure-like behavior, and with a magnetic brake module to show the performance in the case of an unexpected load.

Experimental Study of a Neural Generalized Predictive Force Control for a Hydraulic Actuator

2000 ◽  
Author(s):  
S. He ◽  
N. Sepehri
Keyword(s):  
Neural Networks ◽  
Experimental Study ◽  
Predictive Control ◽  
Force Control ◽  
Feedforward Neural Networks ◽  
Neural Model ◽  
Experimental Results ◽  
Generalized Predictive Control ◽  
Hydraulic Actuator ◽  
Predictive Force Control

Abstract In this paper, multilayer feedforward neural networks (NNs) are used for modeling and force control of a hydraulic actuator. The predictability of the instantaneous linearized neural model is examined and is used along with the generalized predictive control (GPC) algorithm to control the force exerted on the environment. Experimental results show that the neural-based generalized predictive control can handle different contact environments despite high nonlinearity and uncertainty in the hydraulic functions.

Modified Generalized Predictive Control of Networked Systems With Application to a Hydraulic Position Control System

2011 ◽  
Vol 133 (3) ◽  
Author(s):  
Bo Yu ◽  
Yang Shi ◽  
Ji Huang
Keyword(s):  
Control System ◽  
Predictive Control ◽  
Position Control ◽  
Networked Control Systems ◽  
Experimental Tests ◽  
Necessary Condition ◽  
Generalized Predictive Control ◽  
Prediction Control ◽  
Position Control System ◽  
Control Sequences

This paper is concerned with the design of networked control systems using the modified generalized predictive control (M-GPC) method. Both sensor-to-controller (S-C) and controller-to-actuator (C-A) network-induced delays are modeled by two Markov chains. M-GPC uses the available output and prediction control information at the controller node to obtain the future control sequences. Different from the conventional generalized predictive control in which only the first element in control sequences is used, M-GPC employs the whole control sequences to compensate for the time delays in S-C and C-A links. The closed-loop system is further formulated as a special jump linear system. The sufficient and necessary condition to guarantee the stochastic stability is derived. Simulation studies and experimental tests for an experimental hydraulic position control system are presented to verify the effectiveness of the proposed method.

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