Robust adaptive controller design for excavator arm

Nga Thi-Thuy Vu


This paper presents a robust adaptive controller that does not depend on the system parameters for an excavator arm. Firstly, the model of the excavator arm is demonstrated in the Euler-Lagrange form considering with overall excavator system. Next, a robust adaptive controller has been constructed from information of state error. In this paper, the stability of overall system is mathematically proven by using Lyapunov stability theory. Also, the proposed controller is model free then the closed loop system is not affected by disturbances and uncertainties. Finally, the simulation is executed in Matlab/Simulink for both presented scheme and the PD controller under some conditions to ensure that the proposed algorithm given the good performances for all cases.


Adaptive; Excavator; Euler-Lagrange system; Robust control

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IAES International Journal of Robotics and Automation (IJRA)
ISSN 2089-4856, e-ISSN 2722-2586
This journal is published by the Institute of Advanced Engineering and Science (IAES) in collaboration with Intelektual Pustaka Media Utama (IPMU).

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