Robust Control of Trajectory Tracking for Hydraulic Excavator

유압 굴삭기의 궤적 추종을 위한 강인 제어

  • 최종환 (부산대학교 지능기계공학과) ;
  • 김승수 (울산대학교 RRC) ;
  • 양순용 (울산대학교 기계자동차 공학부) ;
  • 이진걸 (부산대학교 기계공학부)
  • Published : 2004.01.01


This paper studies the coordinated trajectory control of an excavator as a kind of robotic manipulators driven by hydraulic actuators. Hydraulic robot system has many non-linearity in dynamics and kinematics, and strong coupling among joints(or hydraulic cylinders). This paper proposes a combined controller frame of the adaptive robust control(ARC) and the sliding mode control(SMC) for the trajectory tracking control of the excavator to preserve the advantages of the both methods while overcoming their drawbacks, namely, asymptotic stability of adaptive system for parametric uncertainties and guaranteed transient performance of sliding mode control for both parametric uncertainties and external disturbance. The suggested control technique is applied for the tracking of a straight-line motion of end-effector of manipulators, and through computer simulations, its trajectory tracking performances and the robustness to payload variation and uncertainties are illustrated.


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