Comparison of classical and modern control applied to an excavator-arm

R. Dixon; C. J. Taylor; E. M. Shaban

Comparison of classical and modern control applied to an excavator-arm

R. Dixon^*, C. J. Taylor, E. M. Shaban

^*Corresponding author for this work

Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Citation (Scopus)

Abstract

The excavation of foundations, general earthworks and earth removal tasks are activities which involve the machine operator in a series of repetitive operations. Automation is likely to provide a number of benefits such as improving efficiency, quality and safety. However, a persistent stumbling block for system developers is the achievement of fast smooth movement of the excavator arm under automatic control. in this regard, the paper develops two very different design methods, a model-based, full state feedback approach and a classical frequency domain technique based on the Nichols chart. The advantages and limitations of these contrasting approaches are identified in terms of both performance and design effort.

Original language	English
Title of host publication	Proceedings of the 16th IFAC World Congress, IFAC 2005
Pages	589-594
Number of pages	6
Volume	16
Publication status	Published - 1 Dec 2005
Event	16th Triennial World Congress of International Federation of Automatic Control, IFAC 2005 - Prague, Czech Republic Duration: 3 Jul 2005 → 8 Jul 2005

Conference

Conference	16th Triennial World Congress of International Federation of Automatic Control, IFAC 2005
Country/Territory	Czech Republic
City	Prague
Period	3/07/05 → 8/07/05

Keywords

Identification
PI controllers
Robot control
State feedback

ASJC Scopus subject areas

Control and Systems Engineering

Cite this

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title = "Comparison of classical and modern control applied to an excavator-arm",

abstract = "The excavation of foundations, general earthworks and earth removal tasks are activities which involve the machine operator in a series of repetitive operations. Automation is likely to provide a number of benefits such as improving efficiency, quality and safety. However, a persistent stumbling block for system developers is the achievement of fast smooth movement of the excavator arm under automatic control. in this regard, the paper develops two very different design methods, a model-based, full state feedback approach and a classical frequency domain technique based on the Nichols chart. The advantages and limitations of these contrasting approaches are identified in terms of both performance and design effort.",

keywords = "Identification, PI controllers, Robot control, State feedback",

author = "R. Dixon and Taylor, {C. J.} and Shaban, {E. M.}",

year = "2005",

month = dec,

day = "1",

language = "English",

isbn = "008045108X",

volume = "16",

pages = "589--594",

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note = "16th Triennial World Congress of International Federation of Automatic Control, IFAC 2005 ; Conference date: 03-07-2005 Through 08-07-2005",

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TY - GEN

T1 - Comparison of classical and modern control applied to an excavator-arm

AU - Dixon, R.

AU - Taylor, C. J.

AU - Shaban, E. M.

PY - 2005/12/1

Y1 - 2005/12/1

N2 - The excavation of foundations, general earthworks and earth removal tasks are activities which involve the machine operator in a series of repetitive operations. Automation is likely to provide a number of benefits such as improving efficiency, quality and safety. However, a persistent stumbling block for system developers is the achievement of fast smooth movement of the excavator arm under automatic control. in this regard, the paper develops two very different design methods, a model-based, full state feedback approach and a classical frequency domain technique based on the Nichols chart. The advantages and limitations of these contrasting approaches are identified in terms of both performance and design effort.

AB - The excavation of foundations, general earthworks and earth removal tasks are activities which involve the machine operator in a series of repetitive operations. Automation is likely to provide a number of benefits such as improving efficiency, quality and safety. However, a persistent stumbling block for system developers is the achievement of fast smooth movement of the excavator arm under automatic control. in this regard, the paper develops two very different design methods, a model-based, full state feedback approach and a classical frequency domain technique based on the Nichols chart. The advantages and limitations of these contrasting approaches are identified in terms of both performance and design effort.

KW - Identification

KW - PI controllers

KW - Robot control

KW - State feedback

UR - http://www.scopus.com/inward/record.url?scp=79960722534&partnerID=8YFLogxK

M3 - Conference contribution

AN - SCOPUS:79960722534

SN - 008045108X

SN - 9780080451084

VL - 16

SP - 589

EP - 594

BT - Proceedings of the 16th IFAC World Congress, IFAC 2005

T2 - 16th Triennial World Congress of International Federation of Automatic Control, IFAC 2005

Y2 - 3 July 2005 through 8 July 2005

ER -

Comparison of classical and modern control applied to an excavator-arm

Abstract

Conference

Keywords

ASJC Scopus subject areas

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