Publications / 2010 Proceedings of the 27th ISARC, Bratislava, Slovakia

A Study on Gain Scheduling of Intelligent Excavator

Chang-Seop Lee, Dongnam Kim, Baeksuk Chu, Daehie Hong
Pages 139-146 (2010 Proceedings of the 27th ISARC, Bratislava, Slovakia, ISBN 978-80-7399-974-2, ISSN 2413-5844)

One of the most important factors in Intelligent Excavator is to locate the bucket quickly and accurately to the right position. To locate the bucket accurately, the Arm and the hydraulic cylinder of the boom should be exactly controlled. But as voltage and the force that should be controlled can be different by the positioning of the excavator, exact controlling is a difficult task. For more accurate control of position of bucket tip, we are going to apply gain scheduling algorithm. In this paper, we looked on how much the excavator could be controlled with gain scheduling algorithm.

Keywords: Control, Gain Scheduling, Position Control, Intelligent Excavator