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- Castillo, IsmaelUmeå universitet,Institutionen för tillämpad fysik och elektronik (author)
Barrier sliding mode control and on-line trajectory generation for the automation of a mobile hydraulic crane
- Article/chapterEnglish2018
Publisher, publication year, extent ...
- IEEE,2018
- printrdacarrier
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- LIBRIS-ID:oai:DiVA.org:umu-203642
- https://urn.kb.se/resolve?urn=urn:nbn:se:umu:diva-203642URI
- https://doi.org/10.1109/VSS.2018.8460409DOI
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- Language:English
- Summary in:English
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- In this paper we propose an implementation scheme of independent joint control for a four-degree-of-freedom heavy-duty hydraulic actuated crane. First, on-line generation of feasible trajectories, following a driver's lead and satisfying the actuator constrains for the redundant kinematic chain, is performed. Second, an implementation of two new Sliding Mode algorithms with variable barrier function gains, which allow robust tracking of the generated trajectory with alleviation of high frequency oscillations, is presented. Experimental results are presented to show the effectiveness of the proposed semi-automation scheme, exploiting the forestry application motivated low accuracy requirement.
Subject headings and genre
- TEKNIK OCH TEKNOLOGIER Elektroteknik och elektronik Robotteknik och automation hsv//swe
- ENGINEERING AND TECHNOLOGY Electrical Engineering, Electronic Engineering, Information Engineering Robotics hsv//eng
- TEKNIK OCH TEKNOLOGIER Elektroteknik och elektronik Datorsystem hsv//swe
- ENGINEERING AND TECHNOLOGY Electrical Engineering, Electronic Engineering, Information Engineering Computer Systems hsv//eng
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- Freidovich, Leonid B.,Docent,1973-Umeå universitet,Institutionen för tillämpad fysik och elektronik(Swepub:umu)lefr0001 (author)
- Umeå universitetInstitutionen för tillämpad fysik och elektronik (creator_code:org_t)
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- In:15th International Workshop on Variable Structure Systems (VSS): IEEE, s. 162-1679781538664391
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