Linear quadratic gaussian control for robotic excavator

Abstract

When developing a robotic excavator, one of the main issues is tracking the given trajectories using its manipulator. This task is complicated by the fact that the system is subject to disturbances and measurement noise, which can most naturally be modelled as stochastic white noise processes. This paper describes an LQG regulator aimed at improving tracking performance at the levelling operation made by the robotic excavator. Simulation is performed on the attached backhoe equipment of the Boreks 2201excavator. The results show that the proposed control algorithm is effective for improving the trajectory tracking accuracy.