Document Type

Journal Article


World Academy of Science, Engineering and Technology


Faculty of Computing, Health and Science


School of Engineering (SOE)




This is an Author's Accepted Manuscript of: Kothapalli, G. , & Hassan, M.Y. (2011). Fuzzy controlled hydraulic excavator with model parameter uncertainty. World Academy of Science, Engineering and Technology, 60, 1889-1894. Available here


The hydraulic actuated excavator, being a non-linear mobile machine, encounters many uncertainties. There are uncertainties in the hydraulic system in addition to the uncertain nature of the load. The simulation results obtained in this study show that there is a need for intelligent control of such machines and in particular interval type-2 fuzzy controller is most suitable for minimizing the position error of a typical excavator’s bucket under load variations. We consider the model parameter uncertainties such as hydraulic fluid leakage and friction. These are uncertainties which also depend up on the temperature and alter bulk modulus and viscosity of the hydraulic fluid. Such uncertainties together with the load variations cause chattering of the bucket position. The interval type-2 fuzzy controller effectively eliminates the chattering and manages to control the end-effecter (bucket) position with positional error in the order of few millimeters.

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