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 language | English |
|---|---|
| Pages (from-to) | 149-160 |
| Number of pages | 12 |
| Journal | Journal of Mechanical Science and Technology |
| Volume | 23(1) |
| Issue number | 1 |
| DOIs | |
| Publication status | Published - Jul 2009 |
ASJC Scopus subject areas
- Mechanical Engineering
- Mechanics of Materials