Adaptive Task-Space Robust Control for Hydraulic Excavators: A High-Order Fully Actuated System Approach

This paper investigates the task-space trajectory tracking problem for hydraulic excavators under unknown dynamics and kinematics. First, kinematic and dynamic models are established for the task space, joint space, and actuator space of the excavator. Subsequently, the dynamic equations incorporating the hydraulic actuator dynamics are transformed into a high-order fully actuated system. Based on the high-order fully actuated (HOFA) system approach, the dynamic input and outer-loop reference signals are designed for task-space trajectory tracking of the hydraulic excavator. Finally, the asymptotic convergence of the task-space trajectory tracking error to zero is proven using the Lyapunov method. Simulation results validate the effectiveness of the proposed approach.