Parameter Identification and Control Algorithm of Electrohydraulic Servo System for Robotic Excavator Based on Improved Hammerstein Model
Joint Authors
Cui, Hong-Xin
Feng, Ke
Li, Huan-Liang
Jinxing, Shen
Hong, Zhang
Source
Mathematical Problems in Engineering
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-9, 9 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-05-23
Country of Publication
Egypt
No. of Pages
9
Main Subjects
Abstract EN
In view of the nonlinearity and time-varying characteristics of the electrohydraulic servo system of the robotic excavator, a nonlinear adaptive identification and control algorithm based on improved Hammerstein model is proposed.
The Hammerstein algorithm model can approximate the nonlinear system with enough precision, but for the time-varying systems is not satisfactory.
In order to compensate for the influence of time-varying factors, the fuzzy control module is designed to adaptively update the forgetting factor.
The experimental results show that the improved Hammerstein model error is about 40.11% less than the classical Hammerstein model error.
This proves that the improved Hammerstein model is feasible and effective to describe the electrohydraulic servo system of the robotic excavator.
American Psychological Association (APA)
Jinxing, Shen& Cui, Hong-Xin& Feng, Ke& Hong, Zhang& Li, Huan-Liang. 2020. Parameter Identification and Control Algorithm of Electrohydraulic Servo System for Robotic Excavator Based on Improved Hammerstein Model. Mathematical Problems in Engineering،Vol. 2020, no. 2020, pp.1-9.
https://search.emarefa.net/detail/BIM-1202068
Modern Language Association (MLA)
Jinxing, Shen…[et al.]. Parameter Identification and Control Algorithm of Electrohydraulic Servo System for Robotic Excavator Based on Improved Hammerstein Model. Mathematical Problems in Engineering No. 2020 (2020), pp.1-9.
https://search.emarefa.net/detail/BIM-1202068
American Medical Association (AMA)
Jinxing, Shen& Cui, Hong-Xin& Feng, Ke& Hong, Zhang& Li, Huan-Liang. Parameter Identification and Control Algorithm of Electrohydraulic Servo System for Robotic Excavator Based on Improved Hammerstein Model. Mathematical Problems in Engineering. 2020. Vol. 2020, no. 2020, pp.1-9.
https://search.emarefa.net/detail/BIM-1202068
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1202068