Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Control of Hydraulic Excavator Using Self Tuning Fuzzy Sliding Mode Control

자기 동조형 퍼지 슬라이딩 모드 제어를 이용한 유압 굴삭기의 제어

  • 김동식 (순천향대학교 정보기술공학부) ;
  • 김동원 (고려대학교 전기공학과) ;
  • 박귀태 (고려대학교 전기공학과) ;
  • 서삼준 (안양대학교 전기전공학과)
  • Published : 2005.02.01
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Abstract

In this paper, to overcome drawbacks of FLC a self tuning fuzzy sliding mode controller is proposed, which controls the position of excavator's attachment, which can be regarded as an ill-defined system. It is reported that fuzzy logic theory is especially useful in the control of ill-defined system. It is important in the design of a FLC to derive control rules in which the system's dynamic characteristics are taken into account. Control rules are usually established using trial and error methods. However, in the case where the dynamic characteristics vary with operating conditions, as in the operation of excavator attachment, it is difficult to find out control rules in which all the working condition parameters are considered. Experiments are carried out on a test bed which is built around a commercial Hyundai HX-60W hydraulic excavator. The experimental results show that both alleviation of chattering and performance are achieved. Fuzzy rules are easily obtained by using the proposed method and good performance in the following the desired trajectory is achieved. In summary, the proposed controller is very effective control method for the position control of the excavator's attachment.

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References

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