Abstract
In general, it is difficult to operate construction machines because of nonlinear characteristics of hydraulic actuators and its complicated mechanical structures. Therefore, automation and simplification of the construction machines are very important from the viewpoint of reducing the operators load.
In this paper, an application of self-tuning fuzzy control scheme for complex operation of an aerial working platform is described. The selftuning fuzzy controller acts as a feedfoward controller in each driving axis to improve the tracking performances. Furthermore, a cooperative controller is introduced to achieve high accuracy vertical and horizontal movements. The fuzzy rules are adjusted by a tuning law so that both tracking error in each axis and cooperation error are reduced. The effectiveness of the proposed control system for improvement of tracking performance and accurate vertical and horizontal movements is demonstrated by experiment.
