Trajectory Control of Field Robot Using Adaptive Control and System Identification

Abstract

The Field robot means the machinery applied for outdoor tasks in construction, agriculture and undersea etc. In this study, to field-robotize a hydraulic excavator that is mostly used in construction working, we have developed an automatic excavation system and an adaptive control system. A model-reference adaptive controller has been designed based on the model that is obtained through off-line system identification. It is illustrated by computer simulations that the proposed control system gives good performance in the trajectory tracking control and the adaptation to parameter variation.