A Robust Control Approach for Hydraulic Excavators Using μ-synthesis

• Published in: International journal of control, automation, and systems Vol. 16; no. 4; pp. 1615 - 1628
• Main Authors: Kim, Seunghyun, Park, Jaemann, Kang, Seonhyeok, Kim, Pan Young, Kim, H. Jin
• Format: Journal Article
• Language: English
• Published: Bucheon / Seoul Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers 01.08.2018; 제어·로봇·시스템학회
• Subjects: Control; Engineering; Mechatronics; Regular Papers; Robotics; 제어계측공학; synthesis; robust control; Hydraulic excavators; robust performance

In this work, a robust control is applied to the automation of a hydraulic excavator. Hydraulic excavators exhibit complex nonlinear behavior due to the inherent nonlinearity of the hydraulic servo system. Furthermore, the hydraulic excavator is subject to large disturbance forces during interaction...