NDLI: Force/position tracking for electrohydraulic systems of a robotic excavator

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Force/position tracking for electrohydraulic systems of a robotic excavator

Averaging with respect to arbitrary closed sets: closeness of solutions for systems with disturbances

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Force/position tracking for electrohydraulic systems of a robotic excavator

Content Provider	IEEE Xplore Digital Library
Author	Nguyen, Q.H. Ha, Q.P. Rye, D.C. Durrant-Whyte, H.F.
Copyright Year	2000
Description	Author affiliation: Centre for Field Robotics, Sydney Univ., NSW, Australia (Nguyen, Q.H.)
Abstract	Presents the sliding mode axis control of the electrohydraulic servo systems of a robotic excavator. The dynamic systems are described by a comprehensive model that accounts for nonlinearities and friction effects of asymmetric hydraulic cylinders. A sliding mode controller is developed for the electrohydraulic actuator of each working axis to provide stable force tracking. With a proper choice of the reference force, the control law can also allow tracking of a desired piston displacement trajectory. Numerical simulation demonstrates the validity of the proposed technique. Experimental results show good performance and strong robustness in both force and position following.
Starting Page	5224
Ending Page	5229
File Size	717899
Page Count	6
File Format	PDF
ISBN	0780366387
ISSN	01912216
DOI	10.1109/CDC.2001.914787
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2000-12-12
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Electrohydraulics Robots Sliding mode control Force control Control systems Servomechanisms Friction Actuators Displacement control Pistons
Content Type	Text
Resource Type	Article

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