document: Control of a heavy-duty robotic excavator using time delay control with integral sliding surface The control of a robotic excavator is difficult from the standpoint of the following problems : parameter variations in mechanical structures , various nonlinearities in hydraulic actuators and disturbance due to the contact with the ground . In addition , the more the size of robotic excavators increases , the more the length and mass of the excavator links ; the more the parameters of a heavy-duty excavator vary . A time-delay control with switching action -LRB- TDCSA -RRB- using an integral sliding surface is proposed in this paper for the control of a 21-ton robotic excavator . Through analysis and experiments , we show that using an integral sliding surface for the switching action of TDCSA is better than using a PD-type sliding surface . The proposed controller is applied to straight-line motions of a 21-ton robotic excavator with a speed level at which skillful operators work . Experiments , which were designed for surfaces with various inclinations and over broad ranges of joint motions , show that the proposed controller exhibits good performance
doc_bio_tags: O O O O B I O O O O O B I I O O O O B I O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O B I I O O O O O O O O O O O B I O O O O O O O O O O O B I I O O O O O O O O O O O O O O O O O O O O O O O O O O B I O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O
extractive_keyphrases: robotic excavator integral sliding surface
abstractive_keyphrases: time-delay control robust control motion control trajectory control dynamics tracking pressure control