Feedback linearisation control for electrohydrauIic syste:ms of a robotic excavator
نویسنده
چکیده
A bstractThis paper presents a feedback linearisation approach to the control of electrohydraulicservo systems of a robotic excavator. The control system of the bucket hydraulic cylinder is used as a testbed. Simulation and experimental results are provided. The results obtained demonstrate the advantage of the proposed controller over conventional linearised controllers in dealing with nonlinearities of hydraulic systems.
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