State dependent parameter proportional-integral-plus (SDP-PIP) control of a nonlinear robot digger arm.

摘要

This paper develops a State Dependent Parameter, Proportional-Integral-Plus (SDP-PIP) control system for a 1/5th scale representation of the Lancaster University Computerised Intelligent Excavator (LUCIE). To the authors knowledge, this represents the first time that SDP-PIP methods have been applied to a practical nonlinear system. Here, the parameters of the SDP model are functionally dependent on other variables in the system. The implementation results suggest that the new algorithm offers considerable improvement over existing linear PIP designs, so providing smoother, more accurate movement of the excavator bucket.