Abstract
The problems of parameters uncertainty, disturbances, system vibration and asymmetric dynamic performance existed in asymmetric cylinder controlled by symmetric proportion valve system. To solve these problems, the models of the forward and inverse kinematics and the electro-hydraulic proportion system for a robotic roadheader were established. In combination with the equilibrium point steady theory and the output error equation polynomial, a model reference adaptive controller was designed. The simulation results show that the designed model reference adaptive controller can effectively achieve accurate velocity control of the roadheader’s cutter.
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© 2008 Springer-Verlag Berlin Heidelberg
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Li, J., Li, Y., Lian, Z. (2008). Modeling, Analysis and Control for a Robotic Roadheader. In: Xiong, C., Liu, H., Huang, Y., Xiong, Y. (eds) Intelligent Robotics and Applications. ICIRA 2008. Lecture Notes in Computer Science(), vol 5315. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-88518-4_127
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DOI: https://doi.org/10.1007/978-3-540-88518-4_127
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-88516-0
Online ISBN: 978-3-540-88518-4
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