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Supervised by Ministry of Industry and Information Technology of The People's Republic of China Sponsored by Harbin Institute of Technology Editor-in-chief Yu Zhou ISSNISSN 1005-9113 CNCN 23-1378/T

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Adaptive Sliding Mode Control for the Excavator Manipulator
Author NameAffiliationPostcode
Guosheng Xu* School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China 150001
Guangming Lv School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China 150001
Nianli Lu School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China 
Abstract:
An adaptive sliding mode control system for the excavator manipulator during straight-line digging operation was presented in this paper. The adaptive laws derived from Lyapunov stability theorem were used to update switching gains and compensate uncertainties. The dynamic model of the excavator manipulator considering link shape and weight was established and the straight-line trajectory of the bucket tooth tip of excavator was transformed into the desired joint angle trajectory for direct control. Finally, simulation results showed the superiority of the proposed control scheme compared with traditional variable structure control with sliding mode.
Key words:  dynamics  adaptive sliding mode control  excavator
DOI：10.11916/j.issn.1005-9113.18117
Clc Number:TU621
Fund:

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