Adaptive predictive control of double-triangle boom based on an inhomogeneous model

Author

Li, Jinzhou ; Li, Lizheng

Author_Institution

Dept. of Electron. & Inf. Eng., Huazhong Univ. of Sci. & Technol., Wuhan

fYear

2008

fDate

25-27 June 2008

Firstpage

5554

Lastpage

5558

Abstract

In order to overcome the shortage of closed-loop prediction, an inhomogeneous incremental time-varying linear model is put forward, the existence theorem of the model is presented and demonstrated. Then an adaptive predictive control algorithm based on the model is deduced and practically applied to the trajectory tracking and directly positioning control of double-triangle boom used for drilling tunnel rock. The application result confirms the effectiveness of the control strategy.

Keywords

adaptive control; closed loop systems; construction equipment; linear systems; position control; predictive control; time-varying systems; adaptive predictive control; closed-loop prediction; double-triangle boom; drilling; existence theorem; inhomogeneous incremental time-varying linear model; positioning control; trajectory tracking; tunnel rock; Accuracy; Adaptive control; Automation; Drilling; Error correction; Feedback; Nonlinear control systems; Predictive control; Predictive models; Programmable control; adaptive predictive control; directly positioning; double-triangle boom; rock-drilling robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control and Automation, 2008. WCICA 2008. 7th World Congress on

Conference_Location

Chongqing

Print_ISBN

978-1-4244-2113-8

Electronic_ISBN

978-1-4244-2114-5

Type

conf

DOI

10.1109/WCICA.2008.4594548

Filename

4594548