Active Disturbance Rejection Contouring Control of Robotic Excavators with Output Constraints and Sliding Mode Observer

Active Disturbance Rejection Contouring Control of Robotic Excavators with Output Constraints and Sliding Mode Observer

This paper proposes an active disturbance rejection contouring control scheme for robotic excavators suffering from model uncertainties, external disturbances, and unmeasurable states. A sliding mode observer (SMO) is firstly designed to precisely estimate both joint velocities and lumped uncertaint...

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Bibliographic Details
Main Authors: Hoang Vu Dao, Kyoung Kwan Ahn
Format: Article
Language:English
Published: MDPI AG 2022-07-01
Series:Applied Sciences
Subjects:
contouring control
robotic excavator
sliding mode observer
output constraint
Online Access:https://www.mdpi.com/2076-3417/12/15/7453

Internet

https://www.mdpi.com/2076-3417/12/15/7453

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