A Study on Trajectory Tracking Control of Field Robot

摘要

An excavator is a typical hydraulic heavy-duty human-operated machine used in general versatile construction operations, such as digging, carrying loads, grounding and dumping loads. However, operating excavators in the hazard environment such as earthquake, nuclear decomposition etc is not suitable for human to operate on site. Therefore, autonomous excavator which can be called field robot has been investigated to protect the operators from the harmful environments. To find a feasible way to control the base of field robot, firstly the full Kinematic and dynamic model of the machine’s platform which two degrees of freedom were studied. To control the excavator’s base, the PID control and nonlinear based on Lyapunov function are conducted and some simulation results are given.