Yuki Yamamoto

Hiroshima University | HU · Graduate School of Advanced Science and Engineering

This paper proposes a position controller for commercial hydraulic excavators. It is constructed by combining a proportional-derivative (PD) controller and a sliding-mode controller as a differential algebraic inclusion and also is integrated with a recently-proposed hydraulic actuator model. The use of the PD control is intended to make the contro...

This article presents an approach to implement a sliding-mode position controller to a plant equipped with a nonsmooth actuator. The actuator is modeled as a set-valued function from the control input and the velocity to the actuator force, which is motivated by quasi-static characteristics of hydraulic actuators shown in a previous study. The impl...

This paper proposes a position control method for hydraulic excavators with reduced effects of a phenomenon known as pressure interference. The pressure interference takes place when two cylinders sharing one pump are driven simultaneously. The proposed position controller avoids the pressure interference by limiting the velocity of the bucket in t...

This paper proposes a sliding-mode set-point position controller for hydraulic excavators. The controller employs a simple switching surface that exponentially drives the actuator position to the desired position with a specified time constant. The discrete-time algorithm of the controller is constructed through a double-implicit implementation sch...

This paper proposes a parameter tuning method of Kikuuwe’s [1] controller and a state predictor for hydraulic actuators. The proposed parameter tuning method is used to adjust the controller’s parameters according to the characteristics of hydraulic actuators. The proposed state predictor is used to compensate for the dead band in the hydraulic act...