Design of a Swing Operation Assist Controller with a Local Feedback Compensator for a Hydraulic Excavator

Increasing the productivity of workers is a challenge faced at construction sites. In a previous study, a scheme was proposed to support the swing operation of a hydraulic excavator by using a local feedback compensator to improve productivity. However, the gain of the compensator was set uniformly. In this paper, a control system is proposed that learns the gain of the compensator based on a database‐driven approach. Furthermore, a different reference output is set for each operator, and the dynamic characteristics of the augmented system are changed according to the operation characteristics of each operator. © 2021 Institute of Electrical Engineers of Japan. Published by Wiley Periodicals LLC.