Model-Based Control of Three Degrees of Freedom Robotic Bulldozing-Reference-Cited by-同舟云学术

Model-Based Control of Three Degrees of Freedom Robotic Bulldozing

Published:2013-12-02 Issue:2 Volume:136 Page:
ISSN:0022-0434
Container-title:Journal of Dynamic Systems, Measurement, and Control
language:en
Short-container-title:

Author:

Olsen Scott G.¹,Bone Gary M.¹

Affiliation:

1. Department of Mechanical Engineering, McMaster University, Hamilton, ON, L8S 4L7, Canada e-mail:

Abstract

This brief paper investigates the control of a robotic bulldozing operation. Optimal blade position control laws were designed based on a hybrid dynamic model to maximize the predicted material removal rate of the bulldozing process. Experiments were conducted with a scaled-down robotic bulldozing system. The control laws were implemented with various tuning values. As a comparison, a rule-based blade control algorithm was also designed and implemented. The experimental results with the best optimal controller demonstrated a 33% increase in the average material removal rate compared to the rule-based controller.

Publisher

ASME International

Subject

Computer Science Applications,Mechanical Engineering,Instrumentation,Information Systems,Control and Systems Engineering

Link

http://asmedigitalcollection.asme.org/dynamicsystems/article-pdf/doi/10.1115/1.4025861/6116904/ds_136_02_024502.pdf

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