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Proportional‐Integral‐Plus Control of an Intelligent Excavator
Author(s) -
Gu Jun,
Taylor James,
Seward Derek
Publication year - 2004
Publication title -
computer‐aided civil and infrastructure engineering
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 2.773
H-Index - 82
eISSN - 1467-8667
pISSN - 1093-9687
DOI - 10.1111/j.1467-8667.2004.00334.x
Subject(s) - excavator , pid controller , matlab , computer science , control engineering , controller (irrigation) , nonlinear system , control theory (sociology) , control (management) , engineering , artificial intelligence , operating system , mechanical engineering , agronomy , physics , quantum mechanics , biology , temperature control
This article considers the application of Proportional‐Integral‐Plus (PIP) control to the Lancaster University Computerised Intelligent Excavator (LUCIE), which is being developed to dig foundation trenches on a building site. Previous work using LUCIE was based on the ubiquitous PI/PID control algorithm, tuned on‐line, and implemented in a rather ad hoc manner. By contrast, the present research utilizes new hardware and advanced model‐based control system design methods to improve the joint control and so provide smoother, more accurate movement of the excavator arm. In this article, a novel nonlinear simulation model of the system is developed for MATLAB/SIMULINK©, allowing for straightforward refinement of the control algorithm and initial evaluation. The PIP controller is compared with a conventionally tuned PID algorithm, with the final designs implemented on‐line for the control of dipper angle. The simulated responses and preliminary implementation results demonstrate the feasibility of the approach.