Force/position tracking for electrohydraulic systems of a robotic excavator

Author

Nguyen, Q.H. ; Ha, Q.P. ; Rye, D.C. ; Durrant-Whyte, H.F.

Author_Institution

Centre for Field Robotics, Sydney Univ., NSW, Australia

Volume

5

fYear

2000

fDate

2000

Firstpage

5224

Abstract

Presents the sliding mode axis control of the electrohydraulic servo systems of a robotic excavator. The dynamic systems are described by a comprehensive model that accounts for nonlinearities and friction effects of asymmetric hydraulic cylinders. A sliding mode controller is developed for the electrohydraulic actuator of each working axis to provide stable force tracking. With a proper choice of the reference force, the control law can also allow tracking of a desired piston displacement trajectory. Numerical simulation demonstrates the validity of the proposed technique. Experimental results show good performance and strong robustness in both force and position following

Keywords

actuators; electrohydraulic control equipment; excavators; force control; friction; mobile robots; position control; robust control; servomechanisms; asymmetric hydraulic cylinders; electrohydraulic actuator; electrohydraulic servo systems; force tracking; friction effects; nonlinearities; piston displacement trajectory; position tracking; robotic excavator; sliding mode axis control; strong robustness; Actuators; Control systems; Displacement control; Electrohydraulics; Force control; Friction; Pistons; Robots; Servomechanisms; Sliding mode control;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2000. Proceedings of the 39th IEEE Conference on

Conference_Location

Sydney, NSW

ISSN

0191-2216

Print_ISBN

0-7803-6638-7

Type

conf

DOI

10.1109/CDC.2001.914787

Filename

914787