PARAMETER ADAPTIVE SLIDING MODE TRAJECTORY TRACKING STRATEGY WITH INITIAL VALUE IDENTIFICATION FOR THE SWING IN A HYDRAULIC CONSTRUCTION ROBOT

Parameter adaptive sliding mode trajectory tracking strategy with initial value identification for the swing in a hydraulic construction robot

Abstract A novel trajectory tracking strategy is developed for a double actuated swing in a hydraulic construction robot.Specifically, a nonlinear hydraulic dynamics model of a double actuated swing is established, and a parameter adaptive sliding mode control strategy is designed to enhance the cmpk bolus trajectory tracking performance.When an ob

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