Quynh-Ah H. Nguyen

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In impedance control of hydraulic excavators the piston position and ram force of each hydraulic cylinder for the axis control of the boom, arm, and bucket can be determined. The problem is thus how to find the control voltage applied to the servovalves to track these commands to the hydraulic systems. This paper presents analytic, simulation and(More)
In this paper, a sliding mode control system with a predictive proportional-integral-derivative (PPID-SMC) sliding surface is proposed. A robust sliding mode controller is suggested to track the desired trajectory despite uncertainty, set point variations, and external disturbances. The proposed sliding mode controller is chosen to ensure the stability of(More)
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