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Sliding Mode Control of Hydraulic Excavator for Automated Grading Operation

Published June 7, 2018 by SAE International in United States
Sliding Mode Control of Hydraulic Excavator for Automated Grading Operation
Citation: Xu, J. and Yoon, H., "Sliding Mode Control of Hydraulic Excavator for Automated Grading Operation," SAE Int. J. Commer. Veh. 11(2):113-124, 2018, https://doi.org/10.4271/02-11-02-0010.
Language: English

Abstract:

Although ground grading is one of the most common tasks that hydraulic excavators perform in typical work sites, proper grading is not easy for less-skilled operators as it requires coordinated manipulation of multiple hydraulic cylinders. In order to help alleviate this difficulty, automated grading systems are considered as an effective alternative to manual operations of hydraulic excavators. In this article, a sliding mode controller design is presented for automated grading control of a hydraulic excavator. First, an excavator manipulator model is developed in Simulink by using SimMechanics and SimHydraulics toolboxes. Then, a sliding mode controller is designed to control the manipulator to trace a predefined trajectory for a grading task. For a comparison study, a PI controller is used to control the manipulator to perform a grading task following the same desired trajectory and the performance is compared with those obtained by the sliding mode controller. The simulation results show that the sliding mode controller can control the grading operation with less tracking errors than the PI controller.