Abstract
The vibration of unmanned excavators causes the instability, unsafe operation, and increases fuel consumption. Ground elasticity significantly influences vibrational excitation. Based on modeling of an under-actuated excavator mounted on elastic ground, this article proposes a control system for precisely tracking and suppressing the vibration of autonomous excavators by combining three control approaches: fast terminal sliding mode, back-stepping, and fractional-order control. Such combination leads to a robust controller against matched and unmatched uncertainties, holding flexible fractional gains, rapidly converging with finite-time, and well-rejecting disturbance. Analysis and synthesis of controller rely on fractional calculus, finite-time Lyapunov stability, and Mittag-Leffler theory. In general, the paper has three contributions: (i) setting up an actual system and operational scenario for an elastic ground-mounted excavator, (ii) proposing a fully dynamic model of excavators to support model-oriented control, and (iii) designing a robust fractional-order controller. Validation of control system via simulation and experiment, comprehensive comparison among various methods show the superiority of the proposed approach. Controller well eliminates vibration, tracks accurately, and remains the stability.
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