The Adaptive Control Applied to the Analysis of the Excavator Dynamics

In this paper, a study of the adaptive control applied to the excavator arm is proposed. Actually, the excavator arm can be considered as a 3-D link arm, which structure is wildly employed in the engineering. Due to the existing of the non-constant parameter term in the dynamic equation when arm is moving, it is important to design a controller to stabilize a system under commands such that the trajectory of the arm can follow the desired path. By proposing the adaptive control law, it is shown our goals can be achieved.