ADAPTIVE CONTROL OF A PARALLEL MANIPULATOR DRIVEN BY ELECTRO-HYDRAULIC CYLINDERS

摘要

The paper presents a three-axis manipulator with an electro-hydraulic servo system and a mathematical model describing the kinematics of the solid model and the manipulator. The manipulator control system is also discussed. An adaptive control algorithm was developed for the electro-hydraulic servo system using a parametric model. The identified model was applied to conduct an on-line synthesis of the controller. An increase in the performance of the adaptive control system was achieved by introducing a variable forgetting factor. The aim of the research was to examine the effectiveness of the adaptive control method for the electro-hydraulic manipulator both theoretically and experimentally.