Fuzzy decision based sliding mode robust adaptive control for bulldozer

An automatic control strategy was proposed for bulldozer working device to improve working efficiency.The bulldozer blade position was optimized by fuzzy decision combined with human experience and experiments according to engine speed and its change rate.A sliding mode robust adaptive controller was designed to track the fuzzy decision values considering the characteristics of electro-hydraulic servo system.The recursive technique and state feedback linearization scheme were used to obtain a sliding mode controller.The system parameter update law was presented and a robust adaptive controller combined with sliding mode method was designed to accurately track fuzzy decision values based on Lyapunov stability theory.Experimental results show that the sliding mode robust adaptive controller has good robustness and remarkably improves the tracking accuracy.Fuzzy decision reasonably optimizes the desired blade position and improves the bulldozer working efficiency.