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《Journal of Jilin University(Engineering and Technology Edition)》 2006-06
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Robust trajectory tracking control of hydraulic excavator bucket

Zhang Da-qing,He Qing-hua,Hao Peng,Chen Qian-gen(College of Mechanical and Electrical Engineering,Central South University,Changsha 410083,China)  
A 2-DOF dynamic model for the working device of a hydraulic excavator was built,and a state observer was designed according to the sliding mode control theory on this basis,a variable structure controller(VSC) with the sliding mode observer for the excavator working device was developed by means of the reversal procedure.The tests were performed on the modified excavator to compare the performance of the bucket tip to track the prescribed straight line under the control of the developed VSC with that of the conventional PID controller.The results showed that the errors for PID controller are more than 40 mm,but those for VSC are less than 30 mm.It shows that the proposed VSC is characterized by good dynamic performance for tracking the prescribed line,and robustness against the uncertainties in the system.
【Key Words】： automatic control technology hydraulic excavator sliding mode observer trajectory tracking back stepping control variable structure control
【Fund】： “863”国家高技术研究发展计划项目(2003AA430200)
【CateGory Index】： TU621
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