A Sliding-Mode Set-Point Position Controller for Hydraulic Excavators

This paper proposes a sliding-mode set-point position controller for hydraulic excavators. The controller employs a simple switching surface that exponentially drives the actuator position to the desired position with a specified time constant. The discrete-time algorithm of the controller is constr...

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Autores principales: Yuki Yamamoto, Jinjun Qiu, Yoshiki Munemasa, Takayuki Doi, Takao Nanjo, Koji Yamashita, Ryo Kikuuwe
Formato: article
Lenguaje:EN
Publicado: IEEE 2021
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Acceso en línea:https://doaj.org/article/a3952ea142db4ba6ac27d89c4e468d1f
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