Trajectory Tracking Control of Field Robot using Adaptive Control and System Identification

적응제어 및 시스템 규명을 이용한 Field Robot의 궤적 추종 제어

The Field Robot means the machinery applied for outdoor tasks in construction, agriculture and undersea etc. In this study, to field-robotize a hydraulic excavator that is mostly used in construction working, we have developed an automatic excavation system and adaptive control system. A model- reference adaptive controller has been designed on the model that is obtained through off-line System Identification. It is illustrated by computer simulations that the proposed control system gives good performances in the trajectory tracking control and adaptation to parameter variation.