Title :
Robust multivariable nonlinear control of a two link excavator. I
Author :
Medanic, J. ; Yuan, M. ; Medanic, B.
Author_Institution :
Dept. of Gen. Eng., Illinois Univ., Urbana, IL, USA
Abstract :
The design of controllers to achieve stability, regulation and tracking for multilink excavators is an open control problem due to the many nonlinear effects that have a dominant role within the wide region of link motions. A design model and a nonlinear polar controller are developed for the Caterpillar 325 excavator modeled as a two-link system. Described here are the 8th order model of excavator dynamics, the structural properties of this model, and the 4th order design model of the link dynamics employed in the development of the polar controller
Keywords :
control system synthesis; dynamics; excavators; multivariable control systems; nonlinear control systems; robust control; 4th order design model; 8th order model; Caterpillar 325 excavator; controller design; excavator dynamics; link dynamics; multilink excavators; nonlinear polar controller; regulation; robust multivariable nonlinear control; stability; tracking; two-link excavator; Actuators; Automatic control; Control nonlinearities; Control systems; Couplings; Motion control; Nonlinear control systems; Nonlinear dynamical systems; Open loop systems; Robust control;
Conference_Titel :
Decision and Control, 1997., Proceedings of the 36th IEEE Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-7803-4187-2
DOI :
10.1109/CDC.1997.649498
