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Application of Integrated Control Structure Design Using BMI Theory and Robust Feedback Linearization to Excavator Bucket Level Control

[+] Author Affiliations
Daniel M. Kassen, Atul G. Kelkar

Iowa State University, Ames, IA

Hui Zhou

Muyang Corporation Ltd., Yangzhou, Jiangsu, China

Punit J. Tulpule

The Ohio State University, Columbus, OH

Paper No. DSCC2015-9797, pp. V001T02A004; 10 pages
  • ASME 2015 Dynamic Systems and Control Conference
  • Volume 1: Adaptive and Intelligent Systems Control; Advances in Control Design Methods; Advances in Non-Linear and Optimal Control; Advances in Robotics; Advances in Wind Energy Systems; Aerospace Applications; Aerospace Power Optimization; Assistive Robotics; Automotive 2: Hybrid Electric Vehicles; Automotive 3: Internal Combustion Engines; Automotive Engine Control; Battery Management; Bio Engineering Applications; Biomed and Neural Systems; Connected Vehicles; Control of Robotic Systems
  • Columbus, Ohio, USA, October 28–30, 2015
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5724-3
  • Copyright © 2015 by ASME


Integrated design of controlled mechanical systems — wherein structure and controls are designed concurrently as opposed to sequentially — has proven to yield a better optimal design. Early work in this area from the co-authors has led to the development of a novel design tool: Integrated Robust Optimal Design (IROD). IROD offers an integrated design framework that can be applied to a variety of robust optimal design problems. This paper presents the addition of feedback linearization control strategy to the robust design framework and demonstrates its application to an excavator bucket leveling control system design problem. The excavator dynamic model is highly nonlinear and it includes both the multibody linkage dynamics and the hydraulic actuator dynamics. The hydraulic system consists of a pump, four way spool valve, and pistons. The performance, robustness, and required control energy of the IROD design are compared with traditional sequential design using a full SimScape model. The results clearly demonstrate the effectiveness of IROD over traditional design methodologies.

Copyright © 2015 by ASME



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