A control method to suppress the swing vibration of a hybrid excavator using sliding mode approach

Abstract

This article presents a control method for suppressing the swing vibration of a hybrid excavator. For control design, dynamic models of typical swing motions of the hybrid excavator are derived using a system identification technique. Because the system states of the obtained models are not directly measurable, a sliding mode observer is designed to estimate the system states. A sliding mode control is designed to provide robust tracking performance against the parameter variations and uncertain non-linearities caused by changes in the working conditions. A complicated mathematical model of the hybrid excavator which captures detailed mechanical, electrical, and hydraulic characteristics is developed for system analysis and simulation. The feasibility and effectiveness of the proposed control method are verified by simulations and actual tests in comparison with a conventional proportional and integral controller.