Coordinated trajectory tracking control for mining excavator with oscillating external disturbance

The mining excavator is a significant type of field robot, however, its ability to track excavation trajectories accurately is limited by model uncertainties and fast-changing external digging force. This paper presents a novel trajectory tracking coordinate control approach for mining excavators by utilizing cross-coupling control (CCS). The approach begins by defining the coordination error based on the motion relationship. A super-twisting nonsingular sliding mode controller is then combined with an adaptive radial basis function neural network to compensate for the unknown nonlinear term that includes model uncertainties and external excavating forces. Moreover, CCS is introduced to enhance the coordination of different actuators. Finally, the effectiveness of the proposed scheme is validated through comparative simulations and experiments.