Activity: Talk or presentation › Talk at workshop, seminar or course › Science to science
Description
An implementation scheme of independent joint control for a four-degree-of-freedom heavyduty hydraulic actuated crane is proposed. The implementation consists of two Sliding Mode Controllers with variable barrier function gains which allow robust tracking of a with alleviation of high frequency oscillations. Experimental results are presented to show the effectiveness of the proposed semi-automation scheme, exploiting the forestry application motivated low accuracy requirement.