A Heavy Material Handling Manipulator for Agricultural Robot (Part 2)

LQ Controller Design and μ-Analysis

Abstract

This paper presents a control system of a heavy material handling manipulator for agricultural robots as the 2^nd step. Firstly, a strategy to improve the operation speed was determined based on the previous results. Secondly, control system modeling and parameter identification was done. Thirdly, a switched control system based on the strategy was designed and then, analyzed on the robust stability in the presence of uncertainty. Finally the robotic harvesting experiment was done using the designed and analyzed control system in the watermelon field. The operation speed became 3 times of the previous speed. The working was 14s.