Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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Position Control of the Pneumatic Excavator System Using Adaptive Sliding Mode Controller

적응슬라이딩 모드 제어기를 이용한 공압굴삭기 시스템의 위치 제어

  • 임태형 (울산대학교 대학원 기계자동차공학과) ;
  • 천세영 (울산대학교 대학원 기계자동차공학과) ;
  • 양순용 (울산대학교 기계자동차공학부) ;
  • 최정주 (부산대학교 기계공학부)
  • Published : 2007.12.01
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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

References

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