Parameter Identification and Control Algorithm of Electrohydraulic Servo System for Robotic Excavator Based on Improved Hammerstein Model

Abstract EN

In view of the nonlinearity and time-varying characteristics of the electrohydraulic servo system of the robotic excavator, a nonlinear adaptive identification and control algorithm based on improved Hammerstein model is proposed.

The Hammerstein algorithm model can approximate the nonlinear system with enough precision, but for the time-varying systems is not satisfactory.

In order to compensate for the influence of time-varying factors, the fuzzy control module is designed to adaptively update the forgetting factor.

The experimental results show that the improved Hammerstein model error is about 40.11% less than the classical Hammerstein model error.

This proves that the improved Hammerstein model is feasible and effective to describe the electrohydraulic servo system of the robotic excavator.