A Robust Control Approach for Hydraulic Excavators Using μ-synthesis

摘要: In this work, a robust control is applied to the automation of hydraulic excavator. Hydraulic excavators exhibit complex nonlinear behavior due inherent nonlinearity servo system. Furthermore, excavator subject large disturbance forces during interaction with environment. As result, conventional feedback techniques, such as proportional-integral-derivative (PID) control, fail provide consistent performance over whole operation region Especially, when phase-offset errors vary between joints, undesirable motions are generated in workspace, which evidently degrades overall controller. With mind, we apply approach autonomous excavators. By handling nonlinearities and disturbances uncertainties within joint dynamics, controller designed by means μ-synthesis that guarantees stability given uncertainty bounds. adopting common model reference for each joint, seek increase tracking digging trajectory workspace. Experimental results conducted on an industrial 21-ton class presented.