Robust Adaptive Controller Design for Excavator Arm

Abstract

This paper presents a robust adaptive controller that does not depend on the system parameters for an excavator arm. Firstly, the model of the excavator arm is demonstrated in the Euler-Lagrange form considering with overall excavator system. Next, a robust adaptive controller has been constructed from information of state error. In this paper, the stability of overall system is mathematically proven by using Lyapunov stability theory. Also, the proposed controller is model free then the closed loop system is not affected by disturbances and uncertainties. Finally, the simulation is executed in Matlab/Simulink for both presented scheme and the PD controller under some conditions to ensure that the proposed algorithm given the good performances for all cases.

Modified power rate sliding mode control for robot manipulator based on particle swarm optimization

“…Zhen et al [23] explained SMC is considered for a class of the uncertain switching system along with external disturbance and time delay. Vu et al [24] proposed a robust adaptive controller to control an excavator arm. The suggested controller consists of two parts; the first part is responsible for keeping the stability of the system, and the second part adapting with the unknown parameters.…”