%0 Journal Article
	%A Ganesh Kothapalli and  Mohammed Y. Hassan
	%D 2011
	%J International Journal of Electrical and Computer Engineering
	%B World Academy of Science, Engineering and Technology
	%I Open Science Index 60, 2011
	%T Fuzzy Controlled Hydraulic Excavator with Model Parameter Uncertainty
	%U https://publications.waset.org/pdf/2498
	%V 60
	%X The hydraulic actuated excavator, being a non-linear
mobile machine, encounters many uncertainties. There are
uncertainties in the hydraulic system in addition to the uncertain
nature of the load. The simulation results obtained in this study show
that there is a need for intelligent control of such machines and in
particular interval type-2 fuzzy controller is most suitable for
minimizing the position error of a typical excavator-s bucket under
load variations. We consider the model parameter uncertainties such
as hydraulic fluid leakage and friction. These are uncertainties which
also depend up on the temperature and alter bulk modulus and
viscosity of the hydraulic fluid. Such uncertainties together with the
load variations cause chattering of the bucket position. The interval
type-2 fuzzy controller effectively eliminates the chattering and
manages to control the end-effecter (bucket) position with positional
error in the order of few millimeters.
	%P 1673 - 1678