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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)
Publication Information
Journal of the Korean Society for Precision Engineering / v.20, no.10, 2003 , pp. 130-140 More about this Journal
Abstract
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.
Keywords
Disturbance Observer; System Identification; Hydraulic Excavator;
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