Trajectory Control of Electro Hydraulic Excavator using Fuzzy Self Tuning Algorithm with Neural Network

Bao Kha Nguyen

Research output: Contribution to journalArticlepeer-review

30 Citations (Scopus)

Abstract

This paper presents the trajectory control of a 2DOF mini electro-hydraulic excavator by using fuzzy self tuning with neural network algorithm. First, the mathematical model is derived for the 2DOF mini electro-hydraulic excavator. The fuzzy PID and fuzzy self tuning with neural network are designed for circle trajectory following. Its two links are driven by an electric motor controlled pump system. The experimental results demonstrated that the proposed controllers have better control performance than the conventional controller.
Original languageEnglish
Pages (from-to)149-160
Number of pages12
JournalJournal of Mechanical Science and Technology
Volume23(1)
Issue number1
DOIs
Publication statusPublished - Jul 2009

ASJC Scopus subject areas

  • Mechanical Engineering
  • Mechanics of Materials

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