Robust control design for an electrohydraulic wheel loader system with a human-in-the-loop assessment in a virtual environment
dc.contributor.advisor | Atul G. Kelkar | |
dc.contributor.author | Fales, Roger | |
dc.contributor.department | Mechanical Engineering | |
dc.date | 2018-08-25T02:30:03.000 | |
dc.date.accessioned | 2020-07-02T06:13:02Z | |
dc.date.available | 2020-07-02T06:13:02Z | |
dc.date.copyright | Thu Jan 01 00:00:00 UTC 2004 | |
dc.date.issued | 2004-01-01 | |
dc.description.abstract | <p>This dissertation is about control and real time virtual reality simulation of a type of off highway machine known as a wheel loader. Wheel loaders are hydraulically operated machines which are used for material handling and excavation for construction, industrial, and agricultural purposes. The wheel loader has a linkage attached to the front of the machine used for manipulating a bucket or other work tool. In this dissertation, work is aimed at designing PI, LQG, Hinfinity, and nonlinear controllers for an electro-hydraulic front loader and comparing these designs for possible implementation on a real-life machine. The controller designs are shown to have various degrees of stability robustness and nominal performance. A nonlinear control design technique know as feedback linearization is used in conjunction with a linear Hinfinity control design to yield a control system with superior robustness properties. A virtual reality simulation is developed and used to implement a human-in-the loop test for evaluating the automatic control system.</p> | |
dc.format.mimetype | application/pdf | |
dc.identifier | archive/lib.dr.iastate.edu/rtd/937/ | |
dc.identifier.articleid | 1936 | |
dc.identifier.contextkey | 6088661 | |
dc.identifier.doi | https://doi.org/10.31274/rtd-180813-8821 | |
dc.identifier.s3bucket | isulib-bepress-aws-west | |
dc.identifier.submissionpath | rtd/937 | |
dc.identifier.uri | https://dr.lib.iastate.edu/handle/20.500.12876/82461 | |
dc.language.iso | en | |
dc.source.bitstream | archive/lib.dr.iastate.edu/rtd/937/r_3145637.pdf|||Sat Jan 15 02:32:02 UTC 2022 | |
dc.subject.disciplines | Mechanical Engineering | |
dc.subject.keywords | Mechanical engineering | |
dc.title | Robust control design for an electrohydraulic wheel loader system with a human-in-the-loop assessment in a virtual environment | |
dc.type | article | |
dc.type.genre | dissertation | |
dspace.entity.type | Publication | |
relation.isOrgUnitOfPublication | 6d38ab0f-8cc2-4ad3-90b1-67a60c5a6f59 | |
thesis.degree.level | dissertation | |
thesis.degree.name | Doctor of Philosophy |
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