Skip to main content
SpringerLink
Log in

Trajectory Tracking Control of an Excavator Arm Using Guaranteed Cost Control

  • Conference paper
  • First Online:
Informatics in Control, Automation and Robotics 12th International Conference, ICINCO 2015 Colmar, France, July 21-23, 2015 Revised Selected Papers

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 383))

Abstract

Improving excavators control systems allows increasing efficiency and productivity of these machines, reduces loads on an operator and improves his safety. One of the stumbling blocks in the way of improving an excavator control system is uncertainty of high dynamic loads during the bucket and soil interaction. Therefore, this paper deals with the problem of robust trajectory tracking control of an excavator bucket during digging. The optimal inverse kinematic solution is used to determine the joint angles, given in the base coordinate system. To control an excavator arm movement, the computed torque control with the guaranteed cost control is designed. The mathematical tool of R-functions for state estimation of an excavator arm is used. Simulation results and functional ability analysis for the proposed control system are given. Some intermediate outcomes concerning the sensing part of the robotic excavator prototype, that is being developed, are presented.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 169.00
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 219.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info
Hardcover Book
USD 219.99
Price excludes VAT (USA)
  • Durable hardcover edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

References

  1. Koivo, A.J., Thoma, M., Kocaoglan, E., Andrade-Cetto, J.: Modeling and control of excavator dynamics during digging operation. J. Aerosp. Eng. 9(1), 10–18 (1996)

    Article  Google Scholar 

  2. Yingjie, G., Yanchao, J., Zhang, Q.: Motion planning based coordinated control for hydraulic excavators. Chin. J. Mech. Eng. 22(1), 97–101 (2009)

    Article  Google Scholar 

  3. Gu, J., Taylor, J., Seward, D.: Proportional-integral-plus control of an intelligent excavator. Comput.-Aided Civil Infrastruct. Eng. 19(1), 16–27 (2004)

    Article  Google Scholar 

  4. Yokota, S., Sasao, M., Ichiryu, K.: Trajectory Control of the boom and arm system of hydraulic excavators. Trans. Jpn. Soc. Mech. Eng. Part C 62(593), 161–167 (1996) (in Japanese)

    Google Scholar 

  5. Yu, H., Liu, Y., Hasan, M.S.: Review of modelling and remote control for excavators. Int. J. Adv. Mechatron. Syst. 2(1), 68–80 (2010)

    Article  Google Scholar 

  6. Bo, L., Jun, Y., Gang, G., Yonghua, Z., Wenxing, L.: High performance control of hydraulic excavator based on fuzzy-pi soft-switch controller. In: IEEE International Conference on Computer Science and Automation Engineering. IEEE Press, Shanghai (2011), vol. 2, pp. 676–679

    Google Scholar 

  7. Zhang, J., Liu, K., Lin, J., Ma, X., Yu, W.: 4-DOF Adaptive fuzzy sliding mode control of excavator. Jixie Gongcheng Xuebao (Chin. J. Mech. Eng.) 46(21), 87–92 (2010)

    Article  Google Scholar 

  8. Le Hanh, D., Ahn, K.K., Kha, N.B., Jo, W.K.: Trajectory control of electro-hydraulic excavator using fuzzy self tuning algorithm with neural network. J. Mech. Sci. Technol. 23(1), 149–160 (2009)

    Article  Google Scholar 

  9. Choi, J.: Tracking control of hydraulic excavator using time varying sliding mode controller with fuzzy system. Adv. Sci. Lett. 15(1), 78–82 (2012)

    Article  Google Scholar 

  10. Chang, P.H., Lee, S.J.: A straight-line motion tracking control of hydraulic excavator system. Mechatronics 12(1), 119–138 (2002)

    Article  Google Scholar 

  11. Vidolov, B.: A discrete-time design of time delay control focus on control experimentations of coordinated motion control of hydraulic excavator. In: 10th International IFAC Symposium on Robot Control, p. 6 (2012)

    Google Scholar 

  12. Lee, S.U., Chang, P.H.: Control of a heavy-duty robotic excavator using time delay control with integral sliding surface. Control Eng. Pract. 10(7), 697–711 (2002)

    Article  Google Scholar 

  13. Spong, M.W., Hutchinson, S., Vidyasagar, M.: Robot Modeling and Control. Wiley, New York (2006)

    Google Scholar 

  14. Volkov, D.P.: Dynamics and Strength of One-Bucket Excavators. Mashgiz, Moscow (1965). (in Russian)

    Google Scholar 

  15. Maeda, G.J., Rye, D.C.: Learning disturbances in autonomous excavation. In: IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE Press, Vilamoura, Algarve, Portugal (2012), pp. 2599–2605

    Google Scholar 

  16. Luengo, O., Singh, S., Cannon, H.: Modeling and identification of soil-tool interaction in automated excavation. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, vol. 3. IEEE Press, Victoria (1998), pp. 1900–1906

    Google Scholar 

  17. Towarek, Z.: Dynamics of a single-bucket excavator on a deformable soil foundation during the digging of ground. Int. J. Mech. Sci. 45(6–7), 1053–1076 (2003)

    Article  Google Scholar 

  18. Alekseeva, T.V., et al.: Machines for Earthmoving Work: Theory and Calculations. Translation of Mashiny dlia Zemlianykh Rabot: Teoriia I Rashet. Amerind Publishing Company, New Delhi (1985)

    Google Scholar 

  19. Sergiyenko, O. Yu., et al.: Optimal kinematic control of a robotic excavator with laser TVS feedback. In: 39th Annual Conference of the IEEE Industrial Electronics Society (IECON 2013). IEEE Press, Vienna (2013), pp. 4239–4244

    Google Scholar 

  20. Gurko, A.G., et al.: Robust control of excavation mobile robot with dynamic triangulation vision. In: 9th International Conference on Informatics in Control. Automation and Robotics (ICINCO 2012), vol. 2. SciTePress, Rome, Italy (2012), pp. 481–484

    Google Scholar 

  21. Gurko, A.G., et al.: Guaranteed control of a robotic excavator during digging process. In: 12th International Conference on Informatics in Control. Automation and Robotics (ICINCO 2015), vol. 2. SciTePress, Colmar (2015), pp. 52–59

    Google Scholar 

  22. Gurko, A.G., Kolodyazhny, V.M.: Estimating the state vector of a dynamic system under uncertainty. Cybern. Syst. Anal. 49(6), 821–828 (2013)

    Article  MathSciNet  MATH  Google Scholar 

  23. Haga, M., Hiroshi, W., Fujishima, K.: Digging control system for hydraulic excavator. Mechatronics 11(6), 665–676 (2001)

    Article  Google Scholar 

  24. Sanjiv, S.: The state of the art in automation of earthmoving. J. Aerosp. Eng. 10(4), 1–29 (1997)

    Google Scholar 

  25. Ghassemi, F., Tafazoli, S., Lawrence, P.D., Hashtrudi-Zaad, K.: An accelerometer-based joint angle sensor for heavy-duty manipulators. In: IEEE International Conference on Robotics and Automation (ICRA’02), vol. 2, pp. 1771–1776 (2002)

    Google Scholar 

  26. Wiegleb, G.: Sensortechnik: Übersicht, Applikation, Anwendungen. Franzis, München (1986)

    Google Scholar 

  27. Sergiyenko, O.Yu., Hernandez, W., Tyrsa, V.V., Hernández-Balbuena, D.: Precise optical scanning for practical multiapplications. In: 34th Annual Conference of IEEE Industrial Electronics (IECON’08). IEEE Press, Florida (2008), pp. 1656–1661

    Google Scholar 

  28. Rodriguez-Quiñones, J.C., Sergiyenko, O.Yu, Gonzalez-Navarro, F.F., Basaca-Preciado, L., Tyrsa, V.V.: Surface recognition improvement in 3D medical laser scanner using Levenberg–Marquardt method. Signal Process. (Elsevier) 93(2), 378–386 (2013)

    Google Scholar 

  29. Mercorelli, P.: A two-stage sliding-mode high-gain observer to reduce uncertainties and disturbances effects for sensorless control in automotive applications. IEEE Trans. Ind. Electron. 62(9), 5929–5940 (2015)

    Article  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Kharkov National Automobile and Highway University, Kharkov, Ukraine

    Alexander Gurko & Igor Kirichenko

  2. Autonomous University of Baja California, Mexicali, Baja California, Mexico

    Oleg Sergiyenko & Juan Ivan Nieto Hipólito

  3. Kharkov Petro Vasylenko National Technical University of Agriculture, Kharkov, Ukraine

    Vera Tyrsa

  4. Universidad Técnica Particular de Loja, Loja, Ecuador

    Wilmar Hernandez

Authors
  1. Alexander Gurko
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Oleg Sergiyenko
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Juan Ivan Nieto Hipólito
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Igor Kirichenko
    View author publications

    You can also search for this author in PubMed Google Scholar

  5. Vera Tyrsa
    View author publications

    You can also search for this author in PubMed Google Scholar

  6. Wilmar Hernandez
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Alexander Gurko .

Editor information

Editors and Affiliations

  1. Polytechnic Institute of Setúbal, Setubal, Portugal

    Joaquim Filipe

  2. Vitry sur Seine, France

    Kurosh Madani

  3. Ford Research & Adv. Engineering, Dearborn, Michigan, USA

    Oleg Gusikhin

  4. Mechanical and Aerospace Engineering, Carleton University, Ottawa, Ontario, Canada

    Jurek Sasiadek

Rights and permissions

Reprints and permissions

Copyright information

© 2016 Springer International Publishing Switzerland

About this paper

Cite this paper

Gurko, A., Sergiyenko, O., Hipólito, J.I.N., Kirichenko, I., Tyrsa, V., Hernandez, W. (2016). Trajectory Tracking Control of an Excavator Arm Using Guaranteed Cost Control. In: Filipe, J., Madani, K., Gusikhin, O., Sasiadek, J. (eds) Informatics in Control, Automation and Robotics 12th International Conference, ICINCO 2015 Colmar, France, July 21-23, 2015 Revised Selected Papers. Lecture Notes in Electrical Engineering, vol 383. Springer, Cham. https://doi.org/10.1007/978-3-319-31898-1_10

Download citation

  • DOI: https://doi.org/10.1007/978-3-319-31898-1_10

  • Published:

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-31896-7

  • Online ISBN: 978-3-319-31898-1

  • eBook Packages: EngineeringEngineering (R0)

Publish with us

Policies and ethics

Search

Navigation