By Topic

Control of a heavy-duty robotic excavator using time delay control with switching action with integral sliding surface

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Sung-Uk Lee ; Dept. of Mech. Eng., Korea Adv. Inst. of Sci. & Technol., Seoul, South Korea ; Pyung Hun Chang

The control of a robotic excavator is difficult from the standpoint of the following problems: parameter variations in mechanical structures, various nonlinearities in hydraulic actuators and disturbance due to the contact with the ground. The more the size of robotic excavators increase, the more the length and mass of excavator's links; the more the parameters of a robotic excavator vary. A time-delay control with switching action (TDCSA) using an integral sliding surface is proposed for the control of a heavy-duty robotic excavator. The proposed controller is applied to straight-line motions of a robotic excavator with a speed level at which skilful operators work. Experiments, which were designed for surfaces with various inclinations and over broad ranges of joint motions, show that the proposed controller exhibits good performance.

Published in:

Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on  (Volume:4 )

Date of Conference:

2001