Asymptotic Stability Method for PID Controller Tuning in a Backhoe Machine

This paper presents the modeling and study of dynamic behavior of a backhoe machine for tuning of PID controller. The tuning procedure of PID controller is performed, in detailed, for the case of a typical operation, digging a foundation and truck loading. This tuning procedure guarantees the local asymptotic stability in the sense of Lyapunov of origin of the closed-loop equation of PID controller. Besides the tuning procedure requires the knowledge of certain properties of dynamic model, which are dependent on the desired trajectory. Finally it is demonstrated that this tuning procedure proves to be effective, and also robust in the execution of other tasks performed by the backhoe machine.