Automatic Excavator Control Using Model-Based Control Algorithm

Automatic excavators have to meet their goals in terms of both durability and ease of operation. From this, equipment manufacturers of automatic excavators can prevent time-consuming, malfunctioning, and commissioning procedures. One of solution is to increase the use of virtual simulators in the development process. At this time, parameters need to be specified in a fixed format to complete the simulation works. In this paper, we design the model-based control algorithm for a hydraulic cylinder in an automatic excavator. Also, this paper focuses on comparing with the control performance of the conventional proportional-integral-derivative (PID) controller.