Trajectory tracking control of intelligent excavator employing an improved ABSMC based on parameter hierarchical

Trajectory tracking control of intelligent excavator employing an improved ABSMC based on parameter hierarchical | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Research Article Trajectory tracking control of intelligent excavator employing an improved ABSMC based on parameter hierarchical Zhaoyuan Yao, Wenli Zhang, Chang Lin, Tianliang Lin This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-7649749/v1 This work is licensed under a CC BY 4.0 License Status: Under Review Version 1 posted 7 You are reading this latest preprint version Abstract As intelligent operation of excavators becomes an inevitable trend, achieving high-precision trajectory tracking control is crucial for enhancing automated task accuracy. An Adaptive Backstepping Sliding Mode Control (ABSMC) algorithm based on a hierarchical parameter strategy to address the complex modeling and strong nonlinearity challenges in excavator electro-hydraulic position servo systems is proposed in this paper. First, online parameter identification and dead-zone compensation techniques are employed to improve modeling accuracy. The hierarchical parameter strategy optimizes control parameter configuration, resolving system parameter uncertainties. Furthermore, by integrating Backstepping Control with Sliding Mode Control (SMC), the algorithm reduces design complexity while effectively handling system nonlinearities and mitigating SMC chattering. Finally, simulations including step, ramp, sinusoidal signals, and excavation trajectories and field tests on an 8-ton electric excavator were conducted. Results demonstrate that ABSMC confines excavation trajectory tracking errors within 60 mm. Compared to Proportional-Integral-Derivative (PID) control and SMC, ABSMC reduces average tracking errors by 66.7% and 57.1%, and root mean square errors by 68.2% and 56.9%, respectively, providing a reliable solution for intelligent excavator control. Trajectory tracking control Adaptive backstepping sliding mode control (ABSMC) Hierarchical parameter strategy Electro-hydraulic servo systems Intelligent excavator Full Text Additional Declarations No competing interests reported. Cite Share Download PDF Status: Under Review Version 1 posted Reviews received at journal 05 Dec, 2025 Reviewers agreed at journal 08 Nov, 2025 Reviewers agreed at journal 06 Nov, 2025 Reviewers invited by journal 06 Nov, 2025 Editor assigned by journal 04 Oct, 2025 Submission checks completed at journal 04 Oct, 2025 First submitted to journal 18 Sep, 2025 You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. Our growing team is made up of researchers and industry professionals working together to solve the most critical problems facing scientific publishing. Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-7649749","acceptedTermsAndConditions":true,"allowDirectSubmit":false,"archivedVersions":[],"articleType":"Research Article","associatedPublications":[],"authors":[{"id":545696708,"identity":"56258f15-e442-4ac4-af98-e9da0ea01672","order_by":0,"name":"Zhaoyuan Yao","email":"","orcid":"","institution":"Huaqiao University","correspondingAuthor":false,"prefix":"","firstName":"Zhaoyuan","middleName":"","lastName":"Yao","suffix":""},{"id":545696709,"identity":"0c563e2f-4046-4448-9ca2-6df13bb51be4","order_by":1,"name":"Wenli Zhang","email":"","orcid":"","institution":"Huaqiao 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