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Position Control of the Pneumatic Excavator System Using Adaptive Sliding Mode Controller  

Lim, Tae-Hyeong (울산대학교 대학원 기계자동차공학과)
Cheon, Se-Young (울산대학교 대학원 기계자동차공학과)
Yang, Soon-Yong (울산대학교 기계자동차공학부)
Choi, Jeong-Ju (부산대학교 기계공학부)
Publication Information
Journal of the Korean Society for Precision Engineering / v.24, no.12, 2007 , pp. 82-87 More about this Journal
Abstract
Excavator has been used in wide field since the attachment in the end effect can be changeable according to the purpose of working. However, efficiency of work using excavator mainly depends on an operator's ability. For the purpose of improving the efficiency of work and reducing the fatigue of operator, the automatic excavator system has been researched. In this paper, the tracking control system of each links of excavator is designed before developing the automatic excavator system. In order to apply the tracking control system, the pneumatic excavator system is developed and the tracking control system is applied. For designing the tracking control system, the adaptive sliding mode control algorithm is proposed. The performance of the proposed control system is evaluated through experiments using the pneumatic excavator system.
Keywords
Excavator; Field Robot; Pneumatic System; Adaptive Control; Sliding Mode Control;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
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