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Trajectory control of electro-hydraulic excavator using fuzzy self tuning algorithm with neural network

journal contribution
posted on 2023-06-09, 07:15 authored by Duc Hanh Le, Bao Kha NguyenBao Kha Nguyen, Kyoung Kwan Ahn, Woo Keun Jo
This paper presents the trajectory control of a 2DOF mini electro-hydraulic excavator by using fuzzy self tuning with neural network algorithm. First, the mathematical model is derived for the 2DOF mini electro-hydraulic excavator. The fuzzy PID and fuzzy self tuning with neural network are designed for circle trajectory following. Its two links are driven by an electric motor controlled pump system. The experimental results demonstrated that the proposed controllers have better control performance than the conventional controller.

History

Publication status

  • Published

Journal

Journal of Mechanical Science and Technology

ISSN

1738-494X

Publisher

Springer Verlag

Issue

1

Volume

23

Page range

149-160

Department affiliated with

  • Engineering and Design Publications

Full text available

  • No

Peer reviewed?

  • Yes

Legacy Posted Date

2017-07-17

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