Flatness-based disturbance observer and control for a robotic mining excavator

Flatness-based disturbance observer and control for a robotic mining excavator | 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 Flatness-based disturbance observer and control for a robotic mining excavator Gerasimos Rigatos, Masoud Abbaszadeh, Farouk Zouari, Pierlugi Siano, and 2 more This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-4972304/v1 This work is licensed under a CC BY 4.0 License Status: Posted Version 1 posted You are reading this latest preprint version Abstract A main issue in the design of a stabilizing feedback controller for robotic mining excavators is the compensation of unknown forces which are exerted on the excavator's dipper when removing the soil. These forces may vary according to the condition of the soil while harsh operating conditions make difficult their direct measuring with the use of dedicated force sensors. To address this problem the article proposes a flatness-based disturbance observer and control method for the dynamic model of thee 2-DOF robotic mining excavator. It is proven that the dynamic model of the robotic excavator is differentially flat and thus it can be transformed into the input-output linearized form and into the canonical Brunovsky form. The forces which are generated due to the contact of the robot's dipper with the soil take the form of additive disturbance inputs. Next, the state-vector of the robot is extended by considering as additional state variables the cumulative disturbance terms and their time-derivatives. The new model is observable, thus a Kalman Filter-based disturbance observer is finally designed which allows for estimating simultaneously the state variables of the robot and the additive perturbation inputs. By identifying precisely the forces which are due to the contact with the ground one can also update the system's flatness-based controller so as to ensure global stability and fast convergence of the state variables of the robotic excavator to the associated setpoints. robotic mining excavator estimation of disturbance forces differential flatness properties input-output linearization canonical Brunovsky form flatness-based controller Kalman Filtering disturbance observer observability. Full Text Additional Declarations No competing interests reported. Cite Share Download PDF Status: Posted Version 1 posted 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-4972304","acceptedTermsAndConditions":true,"allowDirectSubmit":true,"archivedVersions":[],"articleType":"Research Article","associatedPublications":[],"authors":[{"id":349884246,"identity":"4f5d3b86-0e65-4bad-889d-e130767ac735","order_by":0,"name":"Gerasimos 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linearization, canonical Brunovsky form, flatness-based controller, Kalman Filtering, disturbance observer, observability.","lastPublishedDoi":"10.21203/rs.3.rs-4972304/v1","lastPublishedDoiUrl":"https://doi.org/10.21203/rs.3.rs-4972304/v1","license":{"name":"CC BY 4.0","url":"https://creativecommons.org/licenses/by/4.0/"},"manuscriptAbstract":"A main issue in the design of a stabilizing feedback controller for robotic mining excavators is the compensation of unknown forces which are exerted on the excavator's dipper when removing the soil. These forces may vary according to the condition of the soil while harsh operating conditions make difficult their direct measuring with the use of dedicated force sensors. To address this problem the article proposes a flatness-based disturbance observer and control method for the dynamic model of thee 2-DOF robotic mining excavator. It is proven that the dynamic model of the robotic excavator is differentially flat and thus it can be transformed into the input-output linearized form and into the canonical Brunovsky form. The forces which are generated due to the contact of the robot's dipper with the soil take the form of additive disturbance inputs. Next, the state-vector of the robot is extended by considering as additional state variables the cumulative disturbance terms and their time-derivatives. The new model is observable, thus a Kalman Filter-based disturbance observer is finally designed which allows for estimating simultaneously the state variables of the robot and the additive perturbation inputs. 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