Guaranteed Control of a Robotic Excavator During Digging Process

Alexander Gurko, Oleg Sergiyenko, Juan Ivan Nieto Hipólito, Igor Kirichenko, Vera Tyrsa, Juan de Dios Sanchez Lopez

2015

Abstract

Automation of excavators offers a promise for increasing productivity of digging. At the same time, it’s a highly difficult issue due to presence of various nonlinearities and uncertainties in excavator mechanical structures and hydraulic actuators, disturbance when a bucket contacting the ground etc. This paper concerns the problem of robust trajectory tracking control of an excavator arm. To solve this problem, the computed torque control with the guaranteed cost control is considered. The mathematical tool of R-functions as an alternative to the linear matrix inequality approach to constructing information sets of an excavator arm state is used. Simulation results and functional ability analysis for the proposed control system are given.

Paper Citation

in Harvard Style

Gurko A., Sergiyenko O., Hipólito J., Kirichenko I., Tyrsa V. and Lopez J. (2015). Guaranteed Control of a Robotic Excavator During Digging Process . In Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-123-6, pages 52-59. DOI: 10.5220/0005536000520059

in Bibtex Style

@conference{icinco15,
author={Alexander Gurko and Oleg Sergiyenko and Juan Ivan Nieto Hipólito and Igor Kirichenko and Vera Tyrsa and Juan de Dios Sanchez Lopez},
title={Guaranteed Control of a Robotic Excavator During Digging Process},
booktitle={Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2015},
pages={52-59},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005536000520059},
isbn={978-989-758-123-6},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Guaranteed Control of a Robotic Excavator During Digging Process
SN - 978-989-758-123-6
AU - Gurko A.
AU - Sergiyenko O.
AU - Hipólito J.
AU - Kirichenko I.
AU - Tyrsa V.
AU - Lopez J.
PY - 2015
SP - 52
EP - 59
DO - 10.5220/0005536000520059