Design, Analysis and Motion Control of Hydraulic Excavator using Discrete Sliding Mode Control with Inertial Delay

Abstract

The hydraulic excavator is subject to large disturbance forces during interaction with the environment. Hydraulic excavators have complex nonlinear operation. In this design, a robust adaptive control is applied to the hydraulic excavator for its arm, boom and bucket movement. A robust control consisting of discrete model independent control with Time Delay Control (TDC) plus Integral Sliding Mode Control (I-SMC) is designed and implemented. The designed controller formation includes TDC excluding dynamics of acceleration and Terminal Sliding Mode Control (T-SMC) with nonlinear dynamics of expected error and minimum execution efforts. In this design, signal measurement is considered to decrease noise impact by excluding dynamics of acceleration. The conventional controller technique failed to provide consistent performance over the whole operation region of the excavator. In order to evaluate designed integral sliding mode controller, a prototype simulation of excavator is used and the results are compared with those of a T-SMC and an SMC. The presented method achieved better transient performance and tracking accuracy in the company of environmental unreliability and non-linearities.