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| Trajectory control of electro-hydraulic excavator using fuzzy self tuning algorithm with neural network
Kyoung Kwan AHN
The Journal of Mechanical Science and Technology, vol. 23, no. 1, pp.149-160, 2009
Abstract : This paper presents the trajectory control of a 2DOF mini electro-hydraulic excavator by using fuzzy self tuning with
neural network algorithm. First, the mathematical model is derived for the 2DOF mini electro-hydraulic excavator. The
fuzzy PID and fuzzy self tuning with neural network are designed for circle trajectory following. Its two links are
driven by an electric motor controlled pump system. The experimental results demonstrated that the proposed controllers
have better control performance than the conventional controller.
Keyword : Trajectory following control; Fuzzy self tuning control; Fuzzy PID control |
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