한국정밀공학회지 (Journal of the Korean Society for Precision Engineering)

  • 제20권10호
  • /
  • Pages.130-140
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  • 2003
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  • 1225-9071(pISSN)
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  • 2287-8769(eISSN)
한국정밀공학회 (Korean Society for Precision Engineering)
권호 표지

$H_\infty$구조의 외란 관측기를 이용한 유압 굴삭기의 강인한 궤적 제어

Robust Trajectory Control of a Hydraulic Excavator using Disturbance Observer in $H_\infty$Framework

  • 최종환 (부산대학교 대학원 지능기계공학과) ;
  • 김승수 (울산대학교 RRC) ;
  • 양순용 (울산대학교 기계ㆍ자동차 공학부) ;
  • 이진걸 (부산대학교 기계공학부)
  • 발행 : 2003.10.01
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초록

This paper presents an $H_\infty$controller synthesis based on disturbance observer for the trajectory control of a hydraulic excavator. Compared to conventional robot manipulators driven by electrical motors, hydraulic excavator have more nonlinear and coupled dynamics. In particular, the interactions between an excavation tool and the materials being excavated are unstructured and complex. In addition, its operating modes depend on working conditions, which make it difficult to not only derive the exact mathematical model but also design a controller systematically. In this study, the approximated linear model obtained through off-line system identification is used as nominal plant model for a disturbance observer. A disturbance observer based tracking controller which considers the effect of disturbance and model uncertainty is synthesized in $H_\infty$frameworks. Simulation results are used to demonstrate the applicability of the proposed control scheme.

키워드

참고문헌

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