This article presents some results of the autonomous excavation project conducted at the
Australian Centre for Field Robotics (ACFR) with a focus on construction automation. The …

In robotic excavation, hybrid position/force control has been proposed for bucket digging
trajectory following. In hybrid position/force control, the control mode is required to switch …

This paper addresses the force tracking problem of electro-hydraulic load simulator under
the influence of nonlinear friction and uncertain disturbance. A nonlinear system model …

For accurate force tracking of an electro-hydraulic servo system (EHSS), this paper presents
a state-space representation of model predictive control (MPC). EHSS is highly nonlinear …

Presents the sliding mode axis control of the electrohydraulic servo systems of a robotic
excavator. The dynamic systems are described by a comprehensive model that accounts for …

Modern integrated electro-hydraulic servo-drives due to the complex integration of the
hydraulic actuator, control valve, controller and sensors put high demands on their design …

The experimental implementation of the path tracking control of a real hydraulic excavator
with an operating weight of 4,500 kg for realising a large hydraulic servo robot with a high …

A laboratory hydraulic setup consisting of a coupled actuating and load cylinder is
investigated in order to emulate real world working conditions of heavy equipment such as …

This paper provides an overview of recent progress in the automation related to earthmoving
systems. While a previous survey [28] has comprehensively examined various aspects of …

This paper discusses the concept, formulation, and implementation of the agent-based
control for fuzzy behavior programming in robotic excavation. Petri net transducers are …