[PDF][PDF] Feedback linearisation control for electrohydraulic systems of a robotic excavator
Proceedings of the Australian Conference for Robotics and Automation, 1999•Citeseer
This paper presents a feedback linearisation approach to the control of
electrohydraulicservo systems of a robotic excavator. The control system of the bucket
hydraulic cylinder is used as a testbed. Simulation and experimental results are provided.
The results obtained demonstrate the advantage of the proposed controller over
conventional linearised controllers in dealing with nonlinearities of hydraulic systems.
electrohydraulicservo systems of a robotic excavator. The control system of the bucket
hydraulic cylinder is used as a testbed. Simulation and experimental results are provided.
The results obtained demonstrate the advantage of the proposed controller over
conventional linearised controllers in dealing with nonlinearities of hydraulic systems.
Abstract
This paper presents a feedback linearisation approach to the control of electrohydraulicservo systems of a robotic excavator. The control system of the bucket hydraulic cylinder is used as a testbed. Simulation and experimental results are provided. The results obtained demonstrate the advantage of the proposed controller over conventional linearised controllers in dealing with nonlinearities of hydraulic systems.
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