Abstract:The Cartesian control of automated excavators has been noted for its difficulty, especially due to severe nonlinearities in hydraulic actuators that can be hardly observed in electric motors. The nonlinearities tend to become even more severe as the size of an excavator increases and the speed of end-effector becomes faster, which conventional controls have been unable to handle adequately. In a conviction that modern robust controls can resolve this problem, we approached this problem: by adopting Time-delay … Show more
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