| Title: | GS6-2 Design of a Data-Driven Control System for a Hydraulic Excavator |
|---|---|
| Publication: | ICAROB2016 |
| Volume: | 21 |
| Pages: | 393-396 |
| ISSN: | 2188-7829 |
| DOI: | 10.5954/ICAROB.2016.GS6-2 |
| Author(s): | Takuya Kinoshita, Kazushige Koiwai, Toru Yamamoto, Takao Nanjo, Yoichiro Yamazaki, Yoshiaki Fujimoto |
| Publication Date: | January 29, 2016 |
| Keywords: | PID controller, Data-driven controller, Hydraulic excavators, off-line learning |
| Abstract: | PID control schemes have been widely used in most industrial systems. However, it is difficult to achieve the desired control performance for nonlinear systems such as hydraulic excavators by using fixed PID parameters. In order to overcome such a problem, data-driven PID control scheme based on database has been proposed. Moreover, datadriven scheme has a learning method in off-line by using closed-loop data. In this paper, data-driven control scheme is applied to a hydraulic excavator to get desired control performance. |
| PDF File: | https://alife-robotics.co.jp/members2016/icarob/data/papers/GS/GS6-2.pdf |
| Copyright: | © The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/ |
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