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Authors: Alexander Gurko 1 ; Oleg Sergiyenko 2 ; Juan Ivan Nieto Hipólito 2 ; Igor Kirichenko 1 ; Vera Tyrsa 3 and Juan de Dios Sanchez Lopez 2

Affiliations: 1 Kharkov National Automobile and Highway University, Ukraine ; 2 Autonomous University of Baja California, Mexico ; 3 Kharkiv Petro Vasylenko National Technical University of Agriculture, Ukraine

ISBN: 978-989-758-123-6

ISSN: 2184-2809

Keyword(s): Robotic Excavator, Guaranteed Control, Multiple Identification, R-functions.

Related Ontology Subjects/Areas/Topics: Engineering Applications ; Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Robot Design, Development and Control ; Robotics and Automation ; Signal Processing, Sensors, Systems Modeling and Control

Abstract: Automation of excavators offers a promise for increasing productivity of digging. At the same time, it’s a highly difficult issue due to presence of various nonlinearities and uncertainties in excavator mechanical structures and hydraulic actuators, disturbance when a bucket contacting the ground etc. This paper concerns the problem of robust trajectory tracking control of an excavator arm. To solve this problem, the computed torque control with the guaranteed cost control is considered. The mathematical tool of R-functions as an alternative to the linear matrix inequality approach to constructing information sets of an excavator arm state is used. Simulation results and functional ability analysis for the proposed control system are given.

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Paper citation in several formats:
Gurko, A.; Sergiyenko, O.; Hipólito, J.; Kirichenko, I.; Tyrsa, V. and Lopez, J. (2015). Guaranteed Control of a Robotic Excavator During Digging Process.In Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-123-6, ISSN 2184-2809, pages 52-59. DOI: 10.5220/0005536000520059

@conference{icinco15,
author={Alexander Gurko. and Oleg Sergiyenko. and Juan Ivan Nieto Hipólito. and Igor Kirichenko. and Vera Tyrsa. and Juan de Dios Sanchez Lopez.},
title={Guaranteed Control of a Robotic Excavator During Digging Process},
booktitle={Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2015},
pages={52-59},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005536000520059},
isbn={978-989-758-123-6},
}

TY - CONF

JO - Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Guaranteed Control of a Robotic Excavator During Digging Process
SN - 978-989-758-123-6
AU - Gurko, A.
AU - Sergiyenko, O.
AU - Hipólito, J.
AU - Kirichenko, I.
AU - Tyrsa, V.
AU - Lopez, J.
PY - 2015
SP - 52
EP - 59
DO - 10.5220/0005536000520059

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