On development of stroke sensing cylinder for automatic excavator

We developed a part of a stroke sensing cylinder and its measurement system for an automatic excavator. In this paper, for the stroke sensing cylinder, we developed a 2-axis control instrument system with a magnetic sensor. The performance of a cylinder rod of an instrument system is achieved by a sliding mode control which is a new method diminishing the chattering in that control by setting 2-boundary layer along the switching line. The unknown parameters for sliding mode control are estimated by the signal compression method.