Experimental study of fuzzy control for bulldozer

Terano, Toshirō; Masui, Shoichi; Nagaya, Kosuke

doi:10.1109/tencon.1992.271892

Cited by 6 publications

(2 citation statements)

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“…[1][2][3][4][5][6] As for the bulldozer, its link mechanism is designed for a variety of styles in order to satisfy different work conditions, such as road construction and minerals exploitation. The research about dynamic modeling and control design [7][8][9][10][11] of the link mechanism is important. Usually, the most common link mechanism of the bulldozer is 2-degree-of-freedom hybrid mechanism.…”

Section: Introductionmentioning

confidence: 99%

Udwadia–Kalaba theory for the control of bulldozer link lever

Zhao

Zhen

et al. 2018

Advances in Mechanical Engineering

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We propose to apply Udwadia-Kalaba theory to the bulldozer dynamics analysis. The bulldozer system is divided into several subsystems by this approach, which simplifies the modeling process for multi-link mechanism. Based on this approach, the constraints are classified into structure constraints and performance constraints. Structure constraints are used to set up dynamic model without regard for trajectory. Performance constraints are the desired trajectory. Then, according to the equation of motion of the unconstrained system established by Lagrange approach and system constraints which include structure and performance constraints, an explicit, closed-form analytical expression for the control force can be obtained by solving Udwadia-Kalaba equation. We demonstrate that this approach does not need to solve Lagrange multiplier, which is always difficult to obtain. However, for bulldozer link lever system, the initial conditions are difficult to satisfy the constraints in the actual situation. Thus, the problem of initial condition deviation is taken into consideration. In the end, the numerical simulations are done to prove that the trajectory of the bulldozer satisfies the designed one and the real-time forces are conveniently acquired.

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Section: Introductionmentioning

confidence: 99%

Udwadia–Kalaba theory for the control of bulldozer link lever

Zhao

Zhen

et al. 2018

Advances in Mechanical Engineering

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“…Investigations on bulldozer control have primarily focused on blade position control for grading soil, e.g., Refs. [1] and [2]. These control system schemes are typically designed for operator assist applications and tend to be ad hoc approaches that lack optimality and robustness in task execution.…”

mentioning

confidence: 99%

Model-Based Control of Three Degrees of Freedom Robotic Bulldozing

Olsen

Bone

2013

Journal of Dynamic Systems, Measurement, and Control

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This brief paper investigates the control of a robotic bulldozing operation. Optimal blade position control laws were designed based on a hybrid dynamic model to maximize the predicted material removal rate of the bulldozing process. Experiments were conducted with a scaled-down robotic bulldozing system. The control laws were implemented with various tuning values. As a comparison, a rule-based blade control algorithm was also designed and implemented. The experimental results with the best optimal controller demonstrated a 33% increase in the average material removal rate compared to the rule-based controller.

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Modelling of robotic bulldozing operations for autonomous control

Olsen

Bone

2011

2011 24th Canadian Conference on Electrical and Computer Engineering(CCECE)

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Experimental study of fuzzy control for bulldozer

Cited by 6 publications

References 1 publication

Udwadia–Kalaba theory for the control of bulldozer link lever

Udwadia–Kalaba theory for the control of bulldozer link lever

Model-Based Control of Three Degrees of Freedom Robotic Bulldozing

Modelling of robotic bulldozing operations for autonomous control

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