Abstract
This paper proposes an active disturbance rejection contouring control scheme for robotic excavators suffering from model uncertainties, external disturbances, and unmeasurable states. A sliding mode observer (SMO) is firstly designed to precisely estimate both joint velocities and lumped uncertainties and disturbances. These estimations are then fed back into the main controller which is constructed based on the task coordinate frame (TCF) approach. Furthermore, to meet the requirements of high-accuracy control performance, the barrier Lyapunov function (BLF) is utilized in the control design together with the previous techniques, which guarantees the stability of the whole system. Finally, numerical simulation is conducted with a high-reliability excavator model to verify the effectiveness of the proposed control algorithm under various operating conditions. In future work, further practical problems will be conducted to realize the application of robotic excavators in construction.
Funder
National Research Foundation of Korea
Subject
Fluid Flow and Transfer Processes,Computer Science Applications,Process Chemistry and Technology,General Engineering,Instrumentation,General Materials Science
Reference36 articles.
1. Earthmoving equipment automation: A review of technical advances and future outlook;Azar EA;J. Inf. Technol. Constr.,2017
2. An Autonoumous Excavator System for Material Loading Tasks
http://research.baidu.com/Blog/index-view?id=159
3. Built Robotics Aspires to Automatize Industry
https://www.constructionequipmentguide.com/built-robotics-aspires-to-automatize-industry/50965
4. High accuracy contouring control of an excavator for surface flattening tasks based on extended state observer and task coordinate frame approach
5. Vision-based estimation of excavator manipulator pose for automated grading control
Cited by
2 articles.
订阅此论文施引文献
订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献