Deep Learning-enhanced Intelligent Electric Shovel Digging Trajectory Tracking Control

Electric shovel（ES） is one of the most important production equipment used in the open-pit mining to peel off the surface cover and load ore materials. With the advancement of the construction of smart mines, unmanned and intelligent has become the development trend of the ES. Different from the traditional manual operation, the intelligent ES adopts an autonomous operation method, and the work process mainly includes environment perception, trajectory planning and trajectory tracking. And the accuracy of digging trajectory tracking control directly determines the efficiency and quality of the operation, which is of great significance to the development of intelligent ES. Due to the huge structure, the large operating inertia, the complex working environment, and the drastic change of external load in the excavation process, etc., the model of ES shows strong nonlinearity and uncertainty. And there are some problems, such as control lag and low precision in carrying out digging trajectory tracking based on tr