Folding-boom aerial working vehicle tracking and control

To resolve the low level of automatic control on folding-boom aerial working vehicles,a specific 18mfolding-boom aerial working vehicle is used as a case.By applying the robotics,a kinematic model is established to realize aerial working platform tracking and control for automatic control under normal working conditions.To resolve the low control precision and delay of boom hydraulic systems,relevant mathematical model is developed with a self-tuning fuzzy PID control system.Under MATLAB/ SimulinkTMenvironment,the control system is verified via simulation.From the simulation results,it is found that,with assistance of the self-tuning fuzzy PID controller,the boom system response speed is increased,the steady-state error is eliminated,and the tracking ability is enhanced.