Low-complexity tracking control of hydraulic excavator systems with asymmetric full-state constraints

This work is devoted to solving the control problem of hydraulic excavator systems under full-state constraints. The standout aspect of the proposed control approach lies in the fact that not only full-state constraints can be accommodated, but also the settling time and tracking precision can be explicitly specified in advance, irrespective of the arbitrary initial poses of the hydraulic excavator. Additionally, a novel nonlinear state-dependent function is introduced, enabling the system to handle a larger range of initial conditions. The proposed controller, which solely relies on the state variables after nonlinear transformation, has lower complexity in both structure and expression. The effectiveness of the proposed approach is demonstrated through simulations and experiments.