A Sliding-Mode Set-Point Position Controller for Hydraulic Excavators

A Sliding-Mode Set-Point Position Controller for Hydraulic Excavators

This paper proposes a sliding-mode set-point position controller for hydraulic excavators. The controller employs a simple switching surface that exponentially drives the actuator position to the desired position with a specified time constant. The discrete-time algorithm of the controller is constr...

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Bibliographic Details
Main Authors: Yuki Yamamoto, Jinjun Qiu, Yoshiki Munemasa, Takayuki Doi, Takao Nanjo, Koji Yamashita, Ryo Kikuuwe
Format: Article
Language:English
Published: IEEE 2021-01-01
Series:IEEE Access
Subjects:
Deadtime compensation
hydraulic actuator
hydraulic excavator
sliding-mode control
Online Access:https://ieeexplore.ieee.org/document/9615048/

Internet

https://ieeexplore.ieee.org/document/9615048/

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