Lever Control for Position Control of a Typical Excavator in Joint Space Using a Time Delay Control Method

Sun, Dongik; Hwang, Seunghoon; Han, Jeakweon

doi:10.1007/s10846-021-01416-z

Cited by 5 publications

(6 citation statements)

References 29 publications

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“…where ̇s = ds∕dt, ̇s represents the velocity of the pseudopath; s = d 2 s∕dt 2 , s is the acceleration of the pseudo-path; ⃛ s = d 3 s∕dt 3 , ⃛ s is the jerk of the pseudo-path. q ′ (s) = 𝜕q(s)∕𝜕s, q ′′ (s) = 𝜕 2 q(s)∕𝜕s 2 , q ′′′ (s) = 𝜕 3 q(s)∕𝜕s 3 respectively represents the derivative of q(s) with respect to the variable s. Equations ( 2) and ( 3) are substituted into Equation (1) to obtain the dynamical model with the pseudo-path parameter s and the variable derivatives ̇s, s, as shown in Equation (5).…”

Section: Dynamics Analysismentioning

confidence: 99%

“…Hydraulic excavators are indispensable mechanical equipment for numerous engineering applications. They are extensively used for complex excavation and under harsh working conditions, such as during earthquake relief, in space, and underwater [1][2][3]. Owing to the complexity of these working environments, staff members can be endangered and improper operation may lead to problems such as high energy consumption and mechanical wear, thus damaging equipment and reducing the excavator service life [4][5][6].…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Time‐energy consumption optimal path‐constrained trajectory planning of excavator robotics

Zhang,

Sun,

Sun

et al. 2024

The Journal of Engineering

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Reasonable operation of each excavator joint under path constraints directly affects operation efficiency and energy consumption. Efficiency and energy consumption are considerably important performance indicators, particularly for large equipment, such as excavators. Therefore, we propose a quadratic trajectory optimization method based on time–energy consumption. With the pseudo‐path velocity, acceleration, and equivalent convex jerk as constraints, the interior‐point method was used to obtain the time–energy consumption optimal trajectory of an excavator. The time and energy consumption values for different weight coefficients were obtained, and the optimal trajectory planning of the excavator was achieved. Furthermore, the simulation results of the proposed method for lifting 70 kg of materials for a weight coefficient of 0.5 were compared with the result of second‐order cone programming. Experimental results showed that using proposed method to plan the motion of each joint reasonably and effectively reduced the pseudo‐path jerk, acceleration, and velocity peaks by 40.67%, 25.03%, and 12.54%, respectively, ensuring smooth excavator movement. It also improved the working efficiency of the excavator; reduced unnecessary energy consumption; and improved the stability, efficiency, and energy saving of the autonomous operation of the excavator.

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Section: Dynamics Analysismentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Time‐energy consumption optimal path‐constrained trajectory planning of excavator robotics

Zhang,

Sun,

Sun

et al. 2024

The Journal of Engineering

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“…Sun et al. [13] demonstrated the global stability of the joint space of an excavator by applying a time‐delay system control method. Some additional results in this field can be found in [14–16].…”

Section: Introductionmentioning

confidence: 99%

“…Mazare et al [12] proposed an active fault tolerant control using adaptive fractional-based terminal back-stepping sliding mode control strategy for pitch angle control of a variable speed wind turbine, and simulation results were presented to reveal the effectiveness of the proposed controller. Sun et al [13] demonstrated the global stability of the joint space of an excavator by applying a time-delay system control method. Some additional results in this field can be found in [14][15][16].…”

Section: Introductionmentioning

confidence: 99%

H‐infinity fault‐tolerant control for Markov jump system with actuator time delay

Weng

Hou

Hui

et al. 2022

The Journal of Engineering

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This study investigates H-infinity fault-tolerant control for Markov jump systems with actuator time delay. The main objective is to obtain some theorems such that the corresponding Markov jump systems with actuator time delay to be H-infinity stable and with some fault-tolerant performances. First, based on an integral transformation, the Markov jump systems with actuator time delay are described in a system description with a distributed time-delay item. Second, based on utilizing the linear matrix inequality theory, a positive energy functional, which includes a double integral item, is constructed. Then, after some mathematical operations, a sufficient condition is obtained for the Markov jump systems with actuator time delay to be H-infinity stable. If the condition is solvable, faulttolerant controller can be gotten to guarantee the controlled system to be H-infinity stable no matter there are some actuator faults existing in the system or not. Finally, examples are given to show the usefulness of the obtained theorem.

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“…If some of those time delays are not considered properly during system analysis or synthesis, the system may be performance-decreased or destroyed. In order to decrease the influence of time delays on system performance, many efforts have been made by scholars in recent years, and some achievements were gotten, for example, Sun et al 1 demonstrated the global stability of the joint space of an excavator by applying a time-delay system control method. By using a time delay estimation algorithm, Mazare et al 2 proposed a method to design a fault-tolerant controller for a variable-speed wind turbine.…”

Section: Introductionmentioning

confidence: 99%

Finite-time energy-to-peak control for Markov jump systems with pure time delays

Weng

Zeng

et al. 2022

Measurement and Control

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This study investigates finite-time energy-to-peak control for pure-time-delay Markov jump systems. The main objective is to obtain some theorems such that the corresponding pure-time-delay Markov jump systems are finite time energy-to-peak stable or stabilizable. First, based on mathematical transformation, the pure-time-delay Markov jump systems are described in a model description that includes the current system state and several distributed time-delay items. Second, according to linear matrix inequality (LMI) theory, a positive energy functional is constructed, which includes a triple integral item. Then, after some mathematical operations, some sufficient conditions are obtained for Markov jump systems to be finite-time energy-to-peak stable or stabilizable. The obtained results are expressed in LMIs, which can be conveniently solved by computers. Finally, examples are given to show the usefulness of the obtained theorems.

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Lever Control for Position Control of a Typical Excavator in Joint Space Using a Time Delay Control Method

Cited by 5 publications

References 29 publications

Time‐energy consumption optimal path‐constrained trajectory planning of excavator robotics

Time‐energy consumption optimal path‐constrained trajectory planning of excavator robotics

H‐infinity fault‐tolerant control for Markov jump system with actuator time delay

Finite-time energy-to-peak control for Markov jump systems with pure time delays

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