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Parameter Identification and Control Algorithm of Electrohydraulic Servo System for Robotic Excavator Based on Improved Hammerstein Model
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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.
Title: Parameter Identification and Control Algorithm of Electrohydraulic Servo System for Robotic Excavator Based on Improved Hammerstein Model
Description:
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.
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