Robust trajectory control of an excavator manipulator using an advanced time-delay controller

Abstract

We designed three controllers to control an excavator manipulator; proportional integral derivative controller (PID), adaptive inertia-related controller (ADC), time-delay controller (TDC). Before designing the controllers, the kinematics and dynamics analysis were derived. Using MATLAB simulink, we found that the TDC was stable and robust in the excavator manipulator system. For improving the TDC, we added a hold function and KI gain in input of the TDC. The hold function which is consisted of hyperbolic tangent improved an error convergence by substituting the error to a modi ed error. KI gain was also helpful to decrease steady-state error. The controller was called an advanced TDC.