Modeling and controlling for hydraulic excavator's arm
Controlling of excavator's arm is an important and basic task in autonomous research of hydraulic excavator at present, but the behavior of the excavator's arm is dominated by the nonlinear dynamics of the hydraulic actuators. To find a feasible way to control excavator's arm and realize autonomous excavation, firstly, Full kinematic and dynamic models of the …
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Model and Control for Hydraulic Excavator's Arm | Semantic
To control excavator's arm and realize autonomous excavation, firstly, full kinematic and dynamic models of the excavator arm, regarded as a planar manipulator with three degrees of freedom, were derived. Secondly, experiment excavator was retrofitted with electrohydraulic proportional valves, associated sensors, and a computer control system; then, the full nonlinear math model …
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(PDF) Guaranteed Control of a Robotic Excavator During
Along sites from civil construction to disaster elimination, with the computed torque control, the adaptive and therefore efficiency and productivity increase of robust controls of the excavator arm were designed in these machines is a highly important problem.
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Robust position control of hydraulic manipulators using
Nov 06, 2017 · A simple and robust tracking controller based on time delay estimation and nonsingular fast terminal sliding mode is proposed for the position control of hydraulic manipulator. Zhang, D, Hao, P. Modeling and control of hydraulic excavator's arm. Dos Santos Coelho, L, Cunha, MAB. Adaptive cascade control of a hydraulic actuator with an
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Adaptive Robust Motion Control of an Excavator Hydraulic
Sep 29, 2015 · Adaptive Robust Motion Control of an Excavator Hydraulic Hybrid Swing Drive Liming53 Over the last decade, a number of hybrid architectures have been proposed with the main goal of minimizing energy consumption of off-highway vehicles.
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Robust control based on adaptive neural network for Rotary
Mar 06, 2020 · A new stable adaptive neural network (ANN) control scheme for the Furuta pendulum, as a two-degree-of-freedom underactuated nonlinear system, is proposed in this paper. This approach aims to address the control problem of the Furuta pendulum in the steady state and also in the presence of external disturbances. The adaptive classical control laws such as …
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Observer based coordinated adaptive robust control of
Observer based coordinated adaptive robust control of robot manipulators driven by single-rod hydraulic actuators Abstract: This paper studies the coordinated motion control of a hydraulic arm driven by single-rod hydraulic actuators (a scaled down version of an industrial backhoe/excavator arm).
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A novel robust adaptive controller for EAF electrode
Aug 03, 2012 · The electrode regulator system is a complex system with many variables, strong coupling and strong nonlinearity, while conventional control methods such as proportional integral derivative (PID) can not meet the requirements. A robust adaptive neural network controller (RANNC) for electrode regulator system was proposed. Artificial neural networks …
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Nonlinear model based coordinated adaptive robust control
adaptive robust control electro-hydraulic robotic manipulator nonlinear model parametric uncertainty acceleration feedback arc controller conventional robot manipulator uncertain nonlinearities industrial backhoe excavator arm strong coupling asymptotic output final tracking accuracy paper study nonlinear dynamic transient performance various
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Modeling and controlling for hydraulic excavator's arm
feasible way to control excavator's arm and realize autonomous excavation, firstly, Full kinematic and dynamic models of the robust feedback and an adaptive robust controller was designed. Finally, the experiment of the boom motion control is presented to schemes. These efforts had resulted in new control design methodologies that
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Observer based coordinated adaptive robust control of
Observer based coordinated adaptive robust control of robot manipulators driven by single-rod hydraulic actuators Abstract: This paper studies the coordinated motion control of a hydraulic arm driven by single-rod hydraulic actuators (a scaled down version of an industrial backhoe/excavator arm).
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The Adaptive Control Applied to the Analysis of the
In this paper, a study of the adaptive control applied to the excavator arm is proposed. Actually, the excavator arm can be considered as a 3-D link arm, which structure is …
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Lever Control for Position Control of a Typical Excavator
Jun 17, 2021 · Busquets, E., Monika, I.: Adaptive robust motion control of an excavator hydraulic hybrid swing drive. SAE Int. J. Commer. Veh. 8(Liming53), 568–582 (2015) Article Google Scholar 25. Bu, F., Bin, Y.: Nonlinear model based coordinated adaptive robust control of electro-hydraulic robotic arms via overparametrizing method.
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Robust controller design for the excavator swing system
Feb 01, 2018 · Robust controller design for the excavator swing system under the active regulating common pressure rail Wei Shen, Xiaoyu Su, Yu Pang, and Ruihan Zhao Transactions of the Institute of Measurement and Control 2018 40 : 11, 3323-3332
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Parameter Identification and Control Algorithm of
May 23, 2020 · In summary, the steps of adaptive identification and control for robotic excavator based on Hammerstein are as follows: Step 1: according to the mechanism characteristics of the electrohydraulic servo system of the robotic excavator, set the values of,, and Step 2: set the values of,, and forgetting factor Step 3: offline identification; calculate the nonlinear module …
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A Robust Adaptive Nonlinear Control Design | IEEE
Jun 04, 1993 · An adaptive control design procedure for a class of nonlinear systems with both parametric uncertainty and unknown nonlinearities is presented. The unknown nonlinearities lie within some "bounding functions" which are assumed to be partially known. The key assumption is that the uncertain terms satisfy a "triangularity condition." As illustrated by examples, the …
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Jan 01, 2020 · IEEE Transactions on Automatic Control. SCI, Q1. 4. Robust Adaptive Controller Design for Excavator Arm. Nga Thi-Thuy Vu. International Journal of Mechanical Engineering and Robotics Research. Scopus, Q4. 5. Chattering-Free Single-Phase Robustness Sliding Mode Controller for Mismatched Uncertain Interconnected Systems with Unknown Time-Varying
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IEEE/ASME TRANSACTIONS ON MECHATRONICS: FOCUSED …
observer-based adaptive robust controller (ARC) for hydraulic robotic manipulators. In [38], the ARC design was updated to a desired compensation adaptive robust control (DCARC). Both methods are NMBC methods and their stability analysis is based on the use of Lyapunov functions. In the experiments
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Terrain-Adaptive Planning and Control of Complex Motions
terrain adaptive whole-body control. Furthermore, it computes both torque and position/velocity references, depending on the actuator capabilities. We perform experiments on a Menzi Muck M545, a full size 31 Degrees of Freedom (DoF) walking excavator with v e limbs: four wheeled legs and an arm. We
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Dual extended state observer-based adaptive dynamic
This paper presents an adaptive robust control method based on a dual extended state observer for a multi-DOF hydraulic manipulator with unknown uncer…
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