Abstract: The control of a robotic excavator is difficult from the standpoint of the following problems: parameter variations in mechanical structures, various nonlinearities in hydraulic actuators and disturbance due to the contact with the ground. In addition, the more the size of robotic excavators increase, the more the length and mass of excavator's links; the more the parameters of a heavy-duty excavator vary. A time-delay control with switching action (TDCSA) using an integral sliding surface is proposed in this paper for the control of a 21-ton r...
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Topics: 
Control engineering