Model-based methods are used in industry for prototyping concepts based on mathematical models. With our forest industry\npartners, we have established a model-based workflow for rapid development of motion control systems for forestry cranes.\nApplying this working method, we can verify control algorithms, both theoretically and practically. This paper is an example of\nthis workflow and presents four topics related to the application of nonlinear control theory. The first topic presents the system of\ndifferential equations describing the motion dynamics. The second topic presents nonlinear control laws formulated according to\nsliding mode control theory.The third topic presents a procedure for model calibration and control tuning that are a prerequisite to\nrealize experimental tests. The fourth topic presents the results of tests performed on an experimental crane specifically equipped\nfor these tasks. Results of these studies show the advantages and disadvantages of these control algorithms, and they highlight their\nperformance in terms of robustness and smoothness.
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