Design of Master-slave Position Controller of Electro-hydraulic Servo Tele-robot
To eliminate the errors of cylinders dynamic output positions of master side for the influence of random disturbance of slave side, master-slave position controller based on disturbance state observer optimal control and robust dynamic compensate PD feedback control algorithm is designed for electrohydraulic servo tele-robot. A linear quadratic with disturbance observer and a dynamic robust compensator position controller is developed. Experimental results demonstrated the proposed algorithm is availability and showed that the designed controllers both improved position tracking precision for masterslave side and possessed good adaptive ability and robustness in existence of uncertain disturbance, enhanced the operational performance.
electro-hydraulic servo bilateral servo control position controller state observer robust control
Mingde Gong
College of Mechanical Science and Engineering No.5988, Renmin Street, Jilin University, China
国际会议
合肥
英文
2577-2580
2011-09-23（万方平台首次上网日期，不代表论文的发表时间）