Abstract
This paper presents the modeling and study of dynamic behavior of a backhoe machine for tuning of PID controller. The tuning procedure of PID controller is performed, in detailed, for the case of a typical operation, digging a foundation and truck loading. This tuning procedure guarantees the local asymptotic stability in the sense of Lyapunov of origin of the closed-loop equation of PID controller. Besides the tuning procedure requires the knowledge of certain properties of dynamic model, which are dependent on the desired trajectory. Finally it is demonstrated that this tuning procedure proves to be effective, and also robust in the execution of other tasks performed by the backhoe machine.
Original language | English |
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Title of host publication | ASME 2013 Dynamic Systems and Control Conference |
Publisher | American Society of Mechanical Engineers(ASME) |
Number of pages | 8 |
Volume | 3 |
ISBN (Electronic) | 978-0-7918-5614-7 |
DOIs | |
Publication status | Published - 1 Oct 2013 |
Event | 2013 ASME Dynamic Systems and Control Conference - Stanford University, Palo Alto, United States Duration: 21 Oct 2013 → 23 Oct 2013 http://dsc-conference.org/DSCC/2013/ |
Conference
Conference | 2013 ASME Dynamic Systems and Control Conference |
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Abbreviated title | ASME DSC 2013 |
Country/Territory | United States |
City | Palo Alto |
Period | 21/10/13 → 23/10/13 |
Internet address |