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Proportional-Integral-Plus Control Strategy of an Intelligent Excavator

Research output: Contribution to journalJournal article


<mark>Journal publication date</mark>01/2004
<mark>Journal</mark>Computer-Aided Civil and Infrastructure Engineering
Issue number1
Number of pages12
Pages (from-to)16-27
<mark>Original language</mark>English


This article considers the application of Proportional-Integral-Plus (PIP) control to the Lancaster University Computerised Intelligent Excavator (LUCIE), which is being developed to dig foundation trenches on a building site. Previous work using LUCIE was based on the ubiquitous PI/PID control algorithm, tuned on-line, and implemented in a rather ad hoc manner. By contrast, the present research utilizes new hardware and advanced model-based control system design methods to improve the joint control and so provide smoother, more accurate movement of the excavator arm. In this article, a novel nonlinear simulation model of the system is developed for MATLAB/SIMULINK, allowing for straightforward refinement of the control algorithm and initial evaluation. The PIP controller is compared with a conventionally tuned PID algorithm, with the final designs implemented on-line for the control of dipper angle. The simulated responses and preliminary implementation results demonstrate the feasibility of the approach.

Bibliographic note

The paper reports research relevant to the optimum automatic control of the generic class of large hydraulic machines. The smooth and effective control of such machines represents a particularly difficult set of control problems and the paper provides valuable insight and guidance into an appropriate way forward which has widespread relevance throughout the automation industry. The techniques described were subsequently applied on-site to a vibro-compaction machine. RAE_import_type : Journal article RAE_uoa_type : General Engineering