Backstepping Based Trajectory Tracking Control of a TBM Steel Arch Splicing Manipulator
Abstract At present, the splicing of steel arches for open-type TBM suffers from the problems of labor-intensive, time-consuming, low efficiency and greater potencial risk to workers. Rock-fall and collapse caused by untimely support is still one of the main construction accidents. In this paper, a...
Ausführliche Beschreibung
Gespeichert in:
| Autor*in: |
Chen, Yuxi [verfasserIn] |
|---|
| Format: |
E-Artikel |
|---|---|
| Sprache: |
Englisch |
| Erschienen: |
2024 |
|---|
| Schlagwörter: |
|---|
| Anmerkung: |
© ICROS, KIEE and Springer 2024 |
|---|
| Übergeordnetes Werk: |
Enthalten in: International Journal of Control, Automation and Systems - Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers, 2009, 22(2024), 2 vom: 01. Feb., Seite 648-660 |
|---|---|
| Übergeordnetes Werk: |
volume:22 ; year:2024 ; number:2 ; day:01 ; month:02 ; pages:648-660 |
| Links: |
|---|
| DOI / URN: |
10.1007/s12555-021-0965-4 |
|---|
| Katalog-ID: |
SPR054613469 |
|---|
| LEADER | 01000naa a22002652 4500 | ||
|---|---|---|---|
| 001 | SPR054613469 | ||
| 003 | DE-627 | ||
| 005 | 20240202064709.0 | ||
| 007 | cr uuu---uuuuu | ||
| 008 | 240202s2024 xx |||||o 00| ||eng c | ||
| 024 | 7 | |a 10.1007/s12555-021-0965-4 |2 doi | |
| 035 | |a (DE-627)SPR054613469 | ||
| 035 | |a (SPR)s12555-021-0965-4-e | ||
| 040 | |a DE-627 |b ger |c DE-627 |e rakwb | ||
| 041 | |a eng | ||
| 100 | 1 | |a Chen, Yuxi |e verfasserin |4 aut | |
| 245 | 1 | 0 | |a Backstepping Based Trajectory Tracking Control of a TBM Steel Arch Splicing Manipulator |
| 264 | 1 | |c 2024 | |
| 336 | |a Text |b txt |2 rdacontent | ||
| 337 | |a Computermedien |b c |2 rdamedia | ||
| 338 | |a Online-Ressource |b cr |2 rdacarrier | ||
| 500 | |a © ICROS, KIEE and Springer 2024 | ||
| 520 | |a Abstract At present, the splicing of steel arches for open-type TBM suffers from the problems of labor-intensive, time-consuming, low efficiency and greater potencial risk to workers. Rock-fall and collapse caused by untimely support is still one of the main construction accidents. In this paper, a novel steel arch splicing manipulator is developed for unmanned and automated steel arch splicing, and a backstepping method based cascade control strategy is proposed to improve the trajectory tracking control performance. Firstly, the inner-loop controller is designed to compensate the flow coupling between each joint-driven hydraulic cylinder based on dynamic analysis and feedback linearization. Secondly, the adaptive robust controller is adopted for outer-loop controller design to deal with parametric uncertainties and external disturbances. Finally, the system stability is proved by Lyapunov function, then comparative experiments are conducted to verify the effectiveness and superiority of the proposed control scheme. It can be concluded that the proposed controller has a better trajectory tracking control performance, while the control input is much smoother than that of traditional PID controller. | ||
| 650 | 4 | |a Adaptive robust control |7 (dpeaa)DE-He213 | |
| 650 | 4 | |a backstepping |7 (dpeaa)DE-He213 | |
| 650 | 4 | |a steel arch splicing manipulator |7 (dpeaa)DE-He213 | |
| 650 | 4 | |a TBM |7 (dpeaa)DE-He213 | |
| 650 | 4 | |a trajectory tracking |7 (dpeaa)DE-He213 | |
| 700 | 1 | |a Gong, Guofang |0 (orcid)0000-0001-9553-8783 |4 aut | |
| 700 | 1 | |a Zhou, Xinghai |4 aut | |
| 700 | 1 | |a Zhang, Yakun |4 aut | |
| 700 | 1 | |a Wu, Weiqiang |4 aut | |
| 773 | 0 | 8 | |i Enthalten in |t International Journal of Control, Automation and Systems |d Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers, 2009 |g 22(2024), 2 vom: 01. Feb., Seite 648-660 |w (DE-627)SPR026303256 |7 nnns |
| 773 | 1 | 8 | |g volume:22 |g year:2024 |g number:2 |g day:01 |g month:02 |g pages:648-660 |
| 856 | 4 | 0 | |u https://dx.doi.org/10.1007/s12555-021-0965-4 |z lizenzpflichtig |3 Volltext |
| 912 | |a GBV_USEFLAG_A | ||
| 912 | |a SYSFLAG_A | ||
| 912 | |a GBV_SPRINGER | ||
| 912 | |a GBV_ILN_21 | ||
| 912 | |a GBV_ILN_24 | ||
| 912 | |a GBV_ILN_72 | ||
| 912 | |a GBV_ILN_181 | ||
| 912 | |a GBV_ILN_496 | ||
| 912 | |a GBV_ILN_2002 | ||
| 912 | |a GBV_ILN_2003 | ||
| 912 | |a GBV_ILN_2007 | ||
| 912 | |a GBV_ILN_2008 | ||
| 912 | |a GBV_ILN_2009 | ||
| 912 | |a GBV_ILN_2011 | ||
| 912 | |a GBV_ILN_2060 | ||
| 912 | |a GBV_ILN_2470 | ||
| 951 | |a AR | ||
| 952 | |d 22 |j 2024 |e 2 |b 01 |c 02 |h 648-660 | ||
| author_variant |
y c yc g g gg x z xz y z yz w w ww |
|---|---|
| matchkey_str |
chenyuxigongguofangzhouxinghaizhangyakun:2024----:aktpigaetaetrtakncnrlftmteac |
| hierarchy_sort_str |
2024 |
| publishDate |
2024 |
| allfields |
10.1007/s12555-021-0965-4 doi (DE-627)SPR054613469 (SPR)s12555-021-0965-4-e DE-627 ger DE-627 rakwb eng Chen, Yuxi verfasserin aut Backstepping Based Trajectory Tracking Control of a TBM Steel Arch Splicing Manipulator 2024 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © ICROS, KIEE and Springer 2024 Abstract At present, the splicing of steel arches for open-type TBM suffers from the problems of labor-intensive, time-consuming, low efficiency and greater potencial risk to workers. Rock-fall and collapse caused by untimely support is still one of the main construction accidents. In this paper, a novel steel arch splicing manipulator is developed for unmanned and automated steel arch splicing, and a backstepping method based cascade control strategy is proposed to improve the trajectory tracking control performance. Firstly, the inner-loop controller is designed to compensate the flow coupling between each joint-driven hydraulic cylinder based on dynamic analysis and feedback linearization. Secondly, the adaptive robust controller is adopted for outer-loop controller design to deal with parametric uncertainties and external disturbances. Finally, the system stability is proved by Lyapunov function, then comparative experiments are conducted to verify the effectiveness and superiority of the proposed control scheme. It can be concluded that the proposed controller has a better trajectory tracking control performance, while the control input is much smoother than that of traditional PID controller. Adaptive robust control (dpeaa)DE-He213 backstepping (dpeaa)DE-He213 steel arch splicing manipulator (dpeaa)DE-He213 TBM (dpeaa)DE-He213 trajectory tracking (dpeaa)DE-He213 Gong, Guofang (orcid)0000-0001-9553-8783 aut Zhou, Xinghai aut Zhang, Yakun aut Wu, Weiqiang aut Enthalten in International Journal of Control, Automation and Systems Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers, 2009 22(2024), 2 vom: 01. Feb., Seite 648-660 (DE-627)SPR026303256 nnns volume:22 year:2024 number:2 day:01 month:02 pages:648-660 https://dx.doi.org/10.1007/s12555-021-0965-4 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_21 GBV_ILN_24 GBV_ILN_72 GBV_ILN_181 GBV_ILN_496 GBV_ILN_2002 GBV_ILN_2003 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2011 GBV_ILN_2060 GBV_ILN_2470 AR 22 2024 2 01 02 648-660 |
| spelling |
10.1007/s12555-021-0965-4 doi (DE-627)SPR054613469 (SPR)s12555-021-0965-4-e DE-627 ger DE-627 rakwb eng Chen, Yuxi verfasserin aut Backstepping Based Trajectory Tracking Control of a TBM Steel Arch Splicing Manipulator 2024 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © ICROS, KIEE and Springer 2024 Abstract At present, the splicing of steel arches for open-type TBM suffers from the problems of labor-intensive, time-consuming, low efficiency and greater potencial risk to workers. Rock-fall and collapse caused by untimely support is still one of the main construction accidents. In this paper, a novel steel arch splicing manipulator is developed for unmanned and automated steel arch splicing, and a backstepping method based cascade control strategy is proposed to improve the trajectory tracking control performance. Firstly, the inner-loop controller is designed to compensate the flow coupling between each joint-driven hydraulic cylinder based on dynamic analysis and feedback linearization. Secondly, the adaptive robust controller is adopted for outer-loop controller design to deal with parametric uncertainties and external disturbances. Finally, the system stability is proved by Lyapunov function, then comparative experiments are conducted to verify the effectiveness and superiority of the proposed control scheme. It can be concluded that the proposed controller has a better trajectory tracking control performance, while the control input is much smoother than that of traditional PID controller. Adaptive robust control (dpeaa)DE-He213 backstepping (dpeaa)DE-He213 steel arch splicing manipulator (dpeaa)DE-He213 TBM (dpeaa)DE-He213 trajectory tracking (dpeaa)DE-He213 Gong, Guofang (orcid)0000-0001-9553-8783 aut Zhou, Xinghai aut Zhang, Yakun aut Wu, Weiqiang aut Enthalten in International Journal of Control, Automation and Systems Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers, 2009 22(2024), 2 vom: 01. Feb., Seite 648-660 (DE-627)SPR026303256 nnns volume:22 year:2024 number:2 day:01 month:02 pages:648-660 https://dx.doi.org/10.1007/s12555-021-0965-4 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_21 GBV_ILN_24 GBV_ILN_72 GBV_ILN_181 GBV_ILN_496 GBV_ILN_2002 GBV_ILN_2003 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2011 GBV_ILN_2060 GBV_ILN_2470 AR 22 2024 2 01 02 648-660 |
| allfields_unstemmed |
10.1007/s12555-021-0965-4 doi (DE-627)SPR054613469 (SPR)s12555-021-0965-4-e DE-627 ger DE-627 rakwb eng Chen, Yuxi verfasserin aut Backstepping Based Trajectory Tracking Control of a TBM Steel Arch Splicing Manipulator 2024 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © ICROS, KIEE and Springer 2024 Abstract At present, the splicing of steel arches for open-type TBM suffers from the problems of labor-intensive, time-consuming, low efficiency and greater potencial risk to workers. Rock-fall and collapse caused by untimely support is still one of the main construction accidents. In this paper, a novel steel arch splicing manipulator is developed for unmanned and automated steel arch splicing, and a backstepping method based cascade control strategy is proposed to improve the trajectory tracking control performance. Firstly, the inner-loop controller is designed to compensate the flow coupling between each joint-driven hydraulic cylinder based on dynamic analysis and feedback linearization. Secondly, the adaptive robust controller is adopted for outer-loop controller design to deal with parametric uncertainties and external disturbances. Finally, the system stability is proved by Lyapunov function, then comparative experiments are conducted to verify the effectiveness and superiority of the proposed control scheme. It can be concluded that the proposed controller has a better trajectory tracking control performance, while the control input is much smoother than that of traditional PID controller. Adaptive robust control (dpeaa)DE-He213 backstepping (dpeaa)DE-He213 steel arch splicing manipulator (dpeaa)DE-He213 TBM (dpeaa)DE-He213 trajectory tracking (dpeaa)DE-He213 Gong, Guofang (orcid)0000-0001-9553-8783 aut Zhou, Xinghai aut Zhang, Yakun aut Wu, Weiqiang aut Enthalten in International Journal of Control, Automation and Systems Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers, 2009 22(2024), 2 vom: 01. Feb., Seite 648-660 (DE-627)SPR026303256 nnns volume:22 year:2024 number:2 day:01 month:02 pages:648-660 https://dx.doi.org/10.1007/s12555-021-0965-4 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_21 GBV_ILN_24 GBV_ILN_72 GBV_ILN_181 GBV_ILN_496 GBV_ILN_2002 GBV_ILN_2003 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2011 GBV_ILN_2060 GBV_ILN_2470 AR 22 2024 2 01 02 648-660 |
| allfieldsGer |
10.1007/s12555-021-0965-4 doi (DE-627)SPR054613469 (SPR)s12555-021-0965-4-e DE-627 ger DE-627 rakwb eng Chen, Yuxi verfasserin aut Backstepping Based Trajectory Tracking Control of a TBM Steel Arch Splicing Manipulator 2024 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © ICROS, KIEE and Springer 2024 Abstract At present, the splicing of steel arches for open-type TBM suffers from the problems of labor-intensive, time-consuming, low efficiency and greater potencial risk to workers. Rock-fall and collapse caused by untimely support is still one of the main construction accidents. In this paper, a novel steel arch splicing manipulator is developed for unmanned and automated steel arch splicing, and a backstepping method based cascade control strategy is proposed to improve the trajectory tracking control performance. Firstly, the inner-loop controller is designed to compensate the flow coupling between each joint-driven hydraulic cylinder based on dynamic analysis and feedback linearization. Secondly, the adaptive robust controller is adopted for outer-loop controller design to deal with parametric uncertainties and external disturbances. Finally, the system stability is proved by Lyapunov function, then comparative experiments are conducted to verify the effectiveness and superiority of the proposed control scheme. It can be concluded that the proposed controller has a better trajectory tracking control performance, while the control input is much smoother than that of traditional PID controller. Adaptive robust control (dpeaa)DE-He213 backstepping (dpeaa)DE-He213 steel arch splicing manipulator (dpeaa)DE-He213 TBM (dpeaa)DE-He213 trajectory tracking (dpeaa)DE-He213 Gong, Guofang (orcid)0000-0001-9553-8783 aut Zhou, Xinghai aut Zhang, Yakun aut Wu, Weiqiang aut Enthalten in International Journal of Control, Automation and Systems Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers, 2009 22(2024), 2 vom: 01. Feb., Seite 648-660 (DE-627)SPR026303256 nnns volume:22 year:2024 number:2 day:01 month:02 pages:648-660 https://dx.doi.org/10.1007/s12555-021-0965-4 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_21 GBV_ILN_24 GBV_ILN_72 GBV_ILN_181 GBV_ILN_496 GBV_ILN_2002 GBV_ILN_2003 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2011 GBV_ILN_2060 GBV_ILN_2470 AR 22 2024 2 01 02 648-660 |
| allfieldsSound |
10.1007/s12555-021-0965-4 doi (DE-627)SPR054613469 (SPR)s12555-021-0965-4-e DE-627 ger DE-627 rakwb eng Chen, Yuxi verfasserin aut Backstepping Based Trajectory Tracking Control of a TBM Steel Arch Splicing Manipulator 2024 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © ICROS, KIEE and Springer 2024 Abstract At present, the splicing of steel arches for open-type TBM suffers from the problems of labor-intensive, time-consuming, low efficiency and greater potencial risk to workers. Rock-fall and collapse caused by untimely support is still one of the main construction accidents. In this paper, a novel steel arch splicing manipulator is developed for unmanned and automated steel arch splicing, and a backstepping method based cascade control strategy is proposed to improve the trajectory tracking control performance. Firstly, the inner-loop controller is designed to compensate the flow coupling between each joint-driven hydraulic cylinder based on dynamic analysis and feedback linearization. Secondly, the adaptive robust controller is adopted for outer-loop controller design to deal with parametric uncertainties and external disturbances. Finally, the system stability is proved by Lyapunov function, then comparative experiments are conducted to verify the effectiveness and superiority of the proposed control scheme. It can be concluded that the proposed controller has a better trajectory tracking control performance, while the control input is much smoother than that of traditional PID controller. Adaptive robust control (dpeaa)DE-He213 backstepping (dpeaa)DE-He213 steel arch splicing manipulator (dpeaa)DE-He213 TBM (dpeaa)DE-He213 trajectory tracking (dpeaa)DE-He213 Gong, Guofang (orcid)0000-0001-9553-8783 aut Zhou, Xinghai aut Zhang, Yakun aut Wu, Weiqiang aut Enthalten in International Journal of Control, Automation and Systems Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers, 2009 22(2024), 2 vom: 01. Feb., Seite 648-660 (DE-627)SPR026303256 nnns volume:22 year:2024 number:2 day:01 month:02 pages:648-660 https://dx.doi.org/10.1007/s12555-021-0965-4 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_21 GBV_ILN_24 GBV_ILN_72 GBV_ILN_181 GBV_ILN_496 GBV_ILN_2002 GBV_ILN_2003 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2011 GBV_ILN_2060 GBV_ILN_2470 AR 22 2024 2 01 02 648-660 |
| language |
English |
| source |
Enthalten in International Journal of Control, Automation and Systems 22(2024), 2 vom: 01. Feb., Seite 648-660 volume:22 year:2024 number:2 day:01 month:02 pages:648-660 |
| sourceStr |
Enthalten in International Journal of Control, Automation and Systems 22(2024), 2 vom: 01. Feb., Seite 648-660 volume:22 year:2024 number:2 day:01 month:02 pages:648-660 |
| format_phy_str_mv |
Article |
| institution |
findex.gbv.de |
| topic_facet |
Adaptive robust control backstepping steel arch splicing manipulator TBM trajectory tracking |
| isfreeaccess_bool |
false |
| container_title |
International Journal of Control, Automation and Systems |
| authorswithroles_txt_mv |
Chen, Yuxi @@aut@@ Gong, Guofang @@aut@@ Zhou, Xinghai @@aut@@ Zhang, Yakun @@aut@@ Wu, Weiqiang @@aut@@ |
| publishDateDaySort_date |
2024-02-01T00:00:00Z |
| hierarchy_top_id |
SPR026303256 |
| id |
SPR054613469 |
| language_de |
englisch |
| fullrecord |
<?xml version="1.0" encoding="UTF-8"?><collection xmlns="http://www.loc.gov/MARC21/slim"><record><leader>01000naa a22002652 4500</leader><controlfield tag="001">SPR054613469</controlfield><controlfield tag="003">DE-627</controlfield><controlfield tag="005">20240202064709.0</controlfield><controlfield tag="007">cr uuu---uuuuu</controlfield><controlfield tag="008">240202s2024 xx |||||o 00| ||eng c</controlfield><datafield tag="024" ind1="7" ind2=" "><subfield code="a">10.1007/s12555-021-0965-4</subfield><subfield code="2">doi</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(DE-627)SPR054613469</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(SPR)s12555-021-0965-4-e</subfield></datafield><datafield tag="040" ind1=" " ind2=" "><subfield code="a">DE-627</subfield><subfield code="b">ger</subfield><subfield code="c">DE-627</subfield><subfield code="e">rakwb</subfield></datafield><datafield tag="041" ind1=" " ind2=" "><subfield code="a">eng</subfield></datafield><datafield tag="100" ind1="1" ind2=" "><subfield code="a">Chen, Yuxi</subfield><subfield code="e">verfasserin</subfield><subfield code="4">aut</subfield></datafield><datafield tag="245" ind1="1" ind2="0"><subfield code="a">Backstepping Based Trajectory Tracking Control of a TBM Steel Arch Splicing Manipulator</subfield></datafield><datafield tag="264" ind1=" " ind2="1"><subfield code="c">2024</subfield></datafield><datafield tag="336" ind1=" " ind2=" "><subfield code="a">Text</subfield><subfield code="b">txt</subfield><subfield code="2">rdacontent</subfield></datafield><datafield tag="337" ind1=" " ind2=" "><subfield code="a">Computermedien</subfield><subfield code="b">c</subfield><subfield code="2">rdamedia</subfield></datafield><datafield tag="338" ind1=" " ind2=" "><subfield code="a">Online-Ressource</subfield><subfield code="b">cr</subfield><subfield code="2">rdacarrier</subfield></datafield><datafield tag="500" ind1=" " ind2=" "><subfield code="a">© ICROS, KIEE and Springer 2024</subfield></datafield><datafield tag="520" ind1=" " ind2=" "><subfield code="a">Abstract At present, the splicing of steel arches for open-type TBM suffers from the problems of labor-intensive, time-consuming, low efficiency and greater potencial risk to workers. Rock-fall and collapse caused by untimely support is still one of the main construction accidents. In this paper, a novel steel arch splicing manipulator is developed for unmanned and automated steel arch splicing, and a backstepping method based cascade control strategy is proposed to improve the trajectory tracking control performance. Firstly, the inner-loop controller is designed to compensate the flow coupling between each joint-driven hydraulic cylinder based on dynamic analysis and feedback linearization. Secondly, the adaptive robust controller is adopted for outer-loop controller design to deal with parametric uncertainties and external disturbances. Finally, the system stability is proved by Lyapunov function, then comparative experiments are conducted to verify the effectiveness and superiority of the proposed control scheme. It can be concluded that the proposed controller has a better trajectory tracking control performance, while the control input is much smoother than that of traditional PID controller.</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Adaptive robust control</subfield><subfield code="7">(dpeaa)DE-He213</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">backstepping</subfield><subfield code="7">(dpeaa)DE-He213</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">steel arch splicing manipulator</subfield><subfield code="7">(dpeaa)DE-He213</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">TBM</subfield><subfield code="7">(dpeaa)DE-He213</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">trajectory tracking</subfield><subfield code="7">(dpeaa)DE-He213</subfield></datafield><datafield tag="700" ind1="1" ind2=" "><subfield code="a">Gong, Guofang</subfield><subfield code="0">(orcid)0000-0001-9553-8783</subfield><subfield code="4">aut</subfield></datafield><datafield tag="700" ind1="1" ind2=" "><subfield code="a">Zhou, Xinghai</subfield><subfield code="4">aut</subfield></datafield><datafield tag="700" ind1="1" ind2=" "><subfield code="a">Zhang, Yakun</subfield><subfield code="4">aut</subfield></datafield><datafield tag="700" ind1="1" ind2=" "><subfield code="a">Wu, Weiqiang</subfield><subfield code="4">aut</subfield></datafield><datafield tag="773" ind1="0" ind2="8"><subfield code="i">Enthalten in</subfield><subfield code="t">International Journal of Control, Automation and Systems</subfield><subfield code="d">Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers, 2009</subfield><subfield code="g">22(2024), 2 vom: 01. Feb., Seite 648-660</subfield><subfield code="w">(DE-627)SPR026303256</subfield><subfield code="7">nnns</subfield></datafield><datafield tag="773" ind1="1" ind2="8"><subfield code="g">volume:22</subfield><subfield code="g">year:2024</subfield><subfield code="g">number:2</subfield><subfield code="g">day:01</subfield><subfield code="g">month:02</subfield><subfield code="g">pages:648-660</subfield></datafield><datafield tag="856" ind1="4" ind2="0"><subfield code="u">https://dx.doi.org/10.1007/s12555-021-0965-4</subfield><subfield code="z">lizenzpflichtig</subfield><subfield code="3">Volltext</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_USEFLAG_A</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">SYSFLAG_A</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_SPRINGER</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_21</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_24</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_72</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_181</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_496</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_2002</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_2003</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_2007</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_2008</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_2009</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_2011</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_2060</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_2470</subfield></datafield><datafield tag="951" ind1=" " ind2=" "><subfield code="a">AR</subfield></datafield><datafield tag="952" ind1=" " ind2=" "><subfield code="d">22</subfield><subfield code="j">2024</subfield><subfield code="e">2</subfield><subfield code="b">01</subfield><subfield code="c">02</subfield><subfield code="h">648-660</subfield></datafield></record></collection>
|
| author |
Chen, Yuxi |
| spellingShingle |
Chen, Yuxi misc Adaptive robust control misc backstepping misc steel arch splicing manipulator misc TBM misc trajectory tracking Backstepping Based Trajectory Tracking Control of a TBM Steel Arch Splicing Manipulator |
| authorStr |
Chen, Yuxi |
| ppnlink_with_tag_str_mv |
@@773@@(DE-627)SPR026303256 |
| format |
electronic Article |
| delete_txt_mv |
keep |
| author_role |
aut aut aut aut aut |
| collection |
springer |
| remote_str |
true |
| illustrated |
Not Illustrated |
| topic_title |
Backstepping Based Trajectory Tracking Control of a TBM Steel Arch Splicing Manipulator Adaptive robust control (dpeaa)DE-He213 backstepping (dpeaa)DE-He213 steel arch splicing manipulator (dpeaa)DE-He213 TBM (dpeaa)DE-He213 trajectory tracking (dpeaa)DE-He213 |
| topic |
misc Adaptive robust control misc backstepping misc steel arch splicing manipulator misc TBM misc trajectory tracking |
| topic_unstemmed |
misc Adaptive robust control misc backstepping misc steel arch splicing manipulator misc TBM misc trajectory tracking |
| topic_browse |
misc Adaptive robust control misc backstepping misc steel arch splicing manipulator misc TBM misc trajectory tracking |
| format_facet |
Elektronische Aufsätze Aufsätze Elektronische Ressource |
| format_main_str_mv |
Text Zeitschrift/Artikel |
| carriertype_str_mv |
cr |
| hierarchy_parent_title |
International Journal of Control, Automation and Systems |
| hierarchy_parent_id |
SPR026303256 |
| hierarchy_top_title |
International Journal of Control, Automation and Systems |
| isfreeaccess_txt |
false |
| familylinks_str_mv |
(DE-627)SPR026303256 |
| title |
Backstepping Based Trajectory Tracking Control of a TBM Steel Arch Splicing Manipulator |
| ctrlnum |
(DE-627)SPR054613469 (SPR)s12555-021-0965-4-e |
| title_full |
Backstepping Based Trajectory Tracking Control of a TBM Steel Arch Splicing Manipulator |
| author_sort |
Chen, Yuxi |
| journal |
International Journal of Control, Automation and Systems |
| journalStr |
International Journal of Control, Automation and Systems |
| lang_code |
eng |
| isOA_bool |
false |
| recordtype |
marc |
| publishDateSort |
2024 |
| contenttype_str_mv |
txt |
| container_start_page |
648 |
| author_browse |
Chen, Yuxi Gong, Guofang Zhou, Xinghai Zhang, Yakun Wu, Weiqiang |
| container_volume |
22 |
| format_se |
Elektronische Aufsätze |
| author-letter |
Chen, Yuxi |
| doi_str_mv |
10.1007/s12555-021-0965-4 |
| normlink |
(ORCID)0000-0001-9553-8783 |
| normlink_prefix_str_mv |
(orcid)0000-0001-9553-8783 |
| title_sort |
backstepping based trajectory tracking control of a tbm steel arch splicing manipulator |
| title_auth |
Backstepping Based Trajectory Tracking Control of a TBM Steel Arch Splicing Manipulator |
| abstract |
Abstract At present, the splicing of steel arches for open-type TBM suffers from the problems of labor-intensive, time-consuming, low efficiency and greater potencial risk to workers. Rock-fall and collapse caused by untimely support is still one of the main construction accidents. In this paper, a novel steel arch splicing manipulator is developed for unmanned and automated steel arch splicing, and a backstepping method based cascade control strategy is proposed to improve the trajectory tracking control performance. Firstly, the inner-loop controller is designed to compensate the flow coupling between each joint-driven hydraulic cylinder based on dynamic analysis and feedback linearization. Secondly, the adaptive robust controller is adopted for outer-loop controller design to deal with parametric uncertainties and external disturbances. Finally, the system stability is proved by Lyapunov function, then comparative experiments are conducted to verify the effectiveness and superiority of the proposed control scheme. It can be concluded that the proposed controller has a better trajectory tracking control performance, while the control input is much smoother than that of traditional PID controller. © ICROS, KIEE and Springer 2024 |
| abstractGer |
Abstract At present, the splicing of steel arches for open-type TBM suffers from the problems of labor-intensive, time-consuming, low efficiency and greater potencial risk to workers. Rock-fall and collapse caused by untimely support is still one of the main construction accidents. In this paper, a novel steel arch splicing manipulator is developed for unmanned and automated steel arch splicing, and a backstepping method based cascade control strategy is proposed to improve the trajectory tracking control performance. Firstly, the inner-loop controller is designed to compensate the flow coupling between each joint-driven hydraulic cylinder based on dynamic analysis and feedback linearization. Secondly, the adaptive robust controller is adopted for outer-loop controller design to deal with parametric uncertainties and external disturbances. Finally, the system stability is proved by Lyapunov function, then comparative experiments are conducted to verify the effectiveness and superiority of the proposed control scheme. It can be concluded that the proposed controller has a better trajectory tracking control performance, while the control input is much smoother than that of traditional PID controller. © ICROS, KIEE and Springer 2024 |
| abstract_unstemmed |
Abstract At present, the splicing of steel arches for open-type TBM suffers from the problems of labor-intensive, time-consuming, low efficiency and greater potencial risk to workers. Rock-fall and collapse caused by untimely support is still one of the main construction accidents. In this paper, a novel steel arch splicing manipulator is developed for unmanned and automated steel arch splicing, and a backstepping method based cascade control strategy is proposed to improve the trajectory tracking control performance. Firstly, the inner-loop controller is designed to compensate the flow coupling between each joint-driven hydraulic cylinder based on dynamic analysis and feedback linearization. Secondly, the adaptive robust controller is adopted for outer-loop controller design to deal with parametric uncertainties and external disturbances. Finally, the system stability is proved by Lyapunov function, then comparative experiments are conducted to verify the effectiveness and superiority of the proposed control scheme. It can be concluded that the proposed controller has a better trajectory tracking control performance, while the control input is much smoother than that of traditional PID controller. © ICROS, KIEE and Springer 2024 |
| collection_details |
GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_21 GBV_ILN_24 GBV_ILN_72 GBV_ILN_181 GBV_ILN_496 GBV_ILN_2002 GBV_ILN_2003 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2011 GBV_ILN_2060 GBV_ILN_2470 |
| container_issue |
2 |
| title_short |
Backstepping Based Trajectory Tracking Control of a TBM Steel Arch Splicing Manipulator |
| url |
https://dx.doi.org/10.1007/s12555-021-0965-4 |
| remote_bool |
true |
| author2 |
Gong, Guofang Zhou, Xinghai Zhang, Yakun Wu, Weiqiang |
| author2Str |
Gong, Guofang Zhou, Xinghai Zhang, Yakun Wu, Weiqiang |
| ppnlink |
SPR026303256 |
| mediatype_str_mv |
c |
| isOA_txt |
false |
| hochschulschrift_bool |
false |
| doi_str |
10.1007/s12555-021-0965-4 |
| up_date |
2024-07-04T02:22:26.090Z |
| _version_ |
1803613368317116416 |
| fullrecord_marcxml |
<?xml version="1.0" encoding="UTF-8"?><collection xmlns="http://www.loc.gov/MARC21/slim"><record><leader>01000naa a22002652 4500</leader><controlfield tag="001">SPR054613469</controlfield><controlfield tag="003">DE-627</controlfield><controlfield tag="005">20240202064709.0</controlfield><controlfield tag="007">cr uuu---uuuuu</controlfield><controlfield tag="008">240202s2024 xx |||||o 00| ||eng c</controlfield><datafield tag="024" ind1="7" ind2=" "><subfield code="a">10.1007/s12555-021-0965-4</subfield><subfield code="2">doi</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(DE-627)SPR054613469</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(SPR)s12555-021-0965-4-e</subfield></datafield><datafield tag="040" ind1=" " ind2=" "><subfield code="a">DE-627</subfield><subfield code="b">ger</subfield><subfield code="c">DE-627</subfield><subfield code="e">rakwb</subfield></datafield><datafield tag="041" ind1=" " ind2=" "><subfield code="a">eng</subfield></datafield><datafield tag="100" ind1="1" ind2=" "><subfield code="a">Chen, Yuxi</subfield><subfield code="e">verfasserin</subfield><subfield code="4">aut</subfield></datafield><datafield tag="245" ind1="1" ind2="0"><subfield code="a">Backstepping Based Trajectory Tracking Control of a TBM Steel Arch Splicing Manipulator</subfield></datafield><datafield tag="264" ind1=" " ind2="1"><subfield code="c">2024</subfield></datafield><datafield tag="336" ind1=" " ind2=" "><subfield code="a">Text</subfield><subfield code="b">txt</subfield><subfield code="2">rdacontent</subfield></datafield><datafield tag="337" ind1=" " ind2=" "><subfield code="a">Computermedien</subfield><subfield code="b">c</subfield><subfield code="2">rdamedia</subfield></datafield><datafield tag="338" ind1=" " ind2=" "><subfield code="a">Online-Ressource</subfield><subfield code="b">cr</subfield><subfield code="2">rdacarrier</subfield></datafield><datafield tag="500" ind1=" " ind2=" "><subfield code="a">© ICROS, KIEE and Springer 2024</subfield></datafield><datafield tag="520" ind1=" " ind2=" "><subfield code="a">Abstract At present, the splicing of steel arches for open-type TBM suffers from the problems of labor-intensive, time-consuming, low efficiency and greater potencial risk to workers. Rock-fall and collapse caused by untimely support is still one of the main construction accidents. In this paper, a novel steel arch splicing manipulator is developed for unmanned and automated steel arch splicing, and a backstepping method based cascade control strategy is proposed to improve the trajectory tracking control performance. Firstly, the inner-loop controller is designed to compensate the flow coupling between each joint-driven hydraulic cylinder based on dynamic analysis and feedback linearization. Secondly, the adaptive robust controller is adopted for outer-loop controller design to deal with parametric uncertainties and external disturbances. Finally, the system stability is proved by Lyapunov function, then comparative experiments are conducted to verify the effectiveness and superiority of the proposed control scheme. It can be concluded that the proposed controller has a better trajectory tracking control performance, while the control input is much smoother than that of traditional PID controller.</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Adaptive robust control</subfield><subfield code="7">(dpeaa)DE-He213</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">backstepping</subfield><subfield code="7">(dpeaa)DE-He213</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">steel arch splicing manipulator</subfield><subfield code="7">(dpeaa)DE-He213</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">TBM</subfield><subfield code="7">(dpeaa)DE-He213</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">trajectory tracking</subfield><subfield code="7">(dpeaa)DE-He213</subfield></datafield><datafield tag="700" ind1="1" ind2=" "><subfield code="a">Gong, Guofang</subfield><subfield code="0">(orcid)0000-0001-9553-8783</subfield><subfield code="4">aut</subfield></datafield><datafield tag="700" ind1="1" ind2=" "><subfield code="a">Zhou, Xinghai</subfield><subfield code="4">aut</subfield></datafield><datafield tag="700" ind1="1" ind2=" "><subfield code="a">Zhang, Yakun</subfield><subfield code="4">aut</subfield></datafield><datafield tag="700" ind1="1" ind2=" "><subfield code="a">Wu, Weiqiang</subfield><subfield code="4">aut</subfield></datafield><datafield tag="773" ind1="0" ind2="8"><subfield code="i">Enthalten in</subfield><subfield code="t">International Journal of Control, Automation and Systems</subfield><subfield code="d">Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers, 2009</subfield><subfield code="g">22(2024), 2 vom: 01. Feb., Seite 648-660</subfield><subfield code="w">(DE-627)SPR026303256</subfield><subfield code="7">nnns</subfield></datafield><datafield tag="773" ind1="1" ind2="8"><subfield code="g">volume:22</subfield><subfield code="g">year:2024</subfield><subfield code="g">number:2</subfield><subfield code="g">day:01</subfield><subfield code="g">month:02</subfield><subfield code="g">pages:648-660</subfield></datafield><datafield tag="856" ind1="4" ind2="0"><subfield code="u">https://dx.doi.org/10.1007/s12555-021-0965-4</subfield><subfield code="z">lizenzpflichtig</subfield><subfield code="3">Volltext</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_USEFLAG_A</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">SYSFLAG_A</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_SPRINGER</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_21</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_24</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_72</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_181</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_496</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_2002</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_2003</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_2007</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_2008</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_2009</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_2011</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_2060</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_2470</subfield></datafield><datafield tag="951" ind1=" " ind2=" "><subfield code="a">AR</subfield></datafield><datafield tag="952" ind1=" " ind2=" "><subfield code="d">22</subfield><subfield code="j">2024</subfield><subfield code="e">2</subfield><subfield code="b">01</subfield><subfield code="c">02</subfield><subfield code="h">648-660</subfield></datafield></record></collection>
|
| score |
7.397312 |