Leakage-Type Adaptive Robust control for Nonlinear Bulldozer Link Lever System

摘要

A modeling approach and an adaptive robust controller are proposed for bulldozer link lever system in this paper. The dynamic equation is acquired by combining Udwadia-Kalaba and Lagrange approaches. In this way, there is no approximation, linearization or extra variables such as Lagrangian multiplier. The controller consists of three parts. The first part is to suppress any tendency of deviating from the constraints. The second part aims to deal with any possible initial condition deviation from the constraint manifold. The third part is based on a leakage-type adaptive law which is used to estimate the unknown bound of the uncertainty. In the end, simulation results verify that the movement of bulldozer link lever can satisfy the desired trajectory and the real-time joint torque can be acquired conveniently by using the proposed approach.