Adaptive Control and its Application in Robotic Roadheader

摘要

The kinematics and electro-hydraulic proportion system model for a robotic roadheader were established to achieve accurate control of the cutter swing displacement. Nonlinear kinematics feature, parameter uncertainty, disturbance and asymmetric dynamic performance existed in asymmetric cylinder controlled by symmetric electro-hydraulic proportion valve system. To overcome these problems in the swing displacement control of the roadheader cutter, a model reference adaptive controller was designed using equilibrium point steady theory and output error equation polynomial. The simulation results show that the model reference adaptive controller has nice control performance, and is more robust to parameter uncertainty and disturbance.