Open AccessRobust adaptive controller design for excavator arm
Author(s) -
Nga ThiThuy Vu
Publication year - 2019
Publication title -
international journal of robotics and automation (ijra)/iaes international journal of robotics and automation
Language(s) - English
Resource type - Journals
eISSN - 2722-2586
pISSN - 2089-4856
DOI - 10.11591/ijra.v8i4.pp293-300
Subject(s) - excavator , control theory (sociology) , controller (irrigation) , matlab , computer science , lyapunov stability , control engineering , stability (learning theory) , lyapunov function , scheme (mathematics) , engineering , mathematics , control (management) , artificial intelligence , mechanical engineering , mathematical analysis , agronomy , physics , nonlinear system , quantum mechanics , machine learning , biology , operating system
This paper presents a robust adaptive controller that does not depend on the system parameters for an excavator arm. Firstly, the model of the excavator arm is demonstrated in the Euler-Lagrange form considering with overall excavator system. Next, a robust adaptive controller has been constructed from information of state error. In this paper, the stability of overall system is mathematically proven by using Lyapunov stability theory. Also, the proposed controller is model free then the closed loop system is not affected by disturbances and uncertainties. Finally, the simulation is executed in Matlab/Simulink for both presented scheme and the PD controller under some conditions to ensure that the proposed algorithm given the good performances for all cases.