Robust multivariable nonlinear control of a two link excavator. I

Author

Medanic, J. ; Yuan, M. ; Medanic, B.

Author_Institution

Dept. of Gen. Eng., Illinois Univ., Urbana, IL, USA

Volume

5

fYear

1997

fDate

10-12 Dec 1997

Firstpage

4231

Abstract

The design of controllers to achieve stability, regulation and tracking for multilink excavators is an open control problem due to the many nonlinear effects that have a dominant role within the wide region of link motions. A design model and a nonlinear polar controller are developed for the Caterpillar 325 excavator modeled as a two-link system. Described here are the 8th order model of excavator dynamics, the structural properties of this model, and the 4th order design model of the link dynamics employed in the development of the polar controller

Keywords

control system synthesis; dynamics; excavators; multivariable control systems; nonlinear control systems; robust control; 4th order design model; 8th order model; Caterpillar 325 excavator; controller design; excavator dynamics; link dynamics; multilink excavators; nonlinear polar controller; regulation; robust multivariable nonlinear control; stability; tracking; two-link excavator; Actuators; Automatic control; Control nonlinearities; Control systems; Couplings; Motion control; Nonlinear control systems; Nonlinear dynamical systems; Open loop systems; Robust control;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1997., Proceedings of the 36th IEEE Conference on

Conference_Location

San Diego, CA

ISSN

0191-2216

Print_ISBN

0-7803-4187-2

Type

conf

DOI

10.1109/CDC.1997.649498

Filename

649498