배추 자동 수확을 위한 2 축 유압 시스템의 백스테핑 제어: 예비결과

다국어 초록 (Multilingual Abstract)

The paper proposes a backstepping control of 2-DOF hydraulic system for automatic Korean cabbage harvesting. First, we designed a mechanism that allows only cutting devices in Korean cabbage harvesters to control their attitude separately to proceed with precise harvesting. And the 2-DOF hydraulic system was designed for the operation of two hydraulic cylinders that control slide(𝑥) length and pitch(𝜃) rotation of the designed Mechanisms. The system was modeled considering the movement of the cutting device. It is then control by applied to backstepping control, a nonlinear control technique. We also conducted a comparison experiment with PID control to verify the performance of the designed controller.