Dynamic Modeling of Bucket-Soil Interactions Using Koopman-DFL Lifting Linearization for Model Predictive Contouring Control of Autonomous Excavators
A lifting-linearization method based on the Koopman operator and Dual Faceted Linearization is applied to the control of a robotic excavator. In excavation, a bucket interacts with the surrounding soil in a highly nonlinear and complex manner. Here, we propose to represent the nonlinear bucket-soil...
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| Other Authors: | |
| Format: | Article |
| Language: | English |
| Published: |
Institute of Electrical and Electronics Engineers (IEEE),
2021-12-13T20:11:55Z.
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| Subjects: | |
| Online Access: | Get fulltext |