A Controls Engineering Case Study on a Knuckle Boom Loader Machine Oscillation Mitigation Scheme

This paper presents an important controls engineering problem statement from a construction, forestry and material handling industry. The work discusses the implementation of a jerk estimation and controls design concept to significantly reduce impact of oscillations on the machine assembly. Through rigorous simulation experiments on a high fidelity MATLAB simscape model, the efficacy of jerk based controls is demonstrated. An impressive reduction upto 77 % in the machine oscillations is observed through our simulation studies.