A switched servo constraints control for the smart vibratory roller in unmanned compaction

A novel control method for the smart vibratory roller in the unmanned compaction has been proposed in the paper, in which the traditional path tracking problem of the smart vibratory roller is creatively considered as the servo constraints following issue (one of the frontier topics in the control field of mechanical systems). According to the construction technology, a series of servo constraints are designed for the smart vibratory roller in the various compaction processes. By following the formulated servo constraints, the task of the unmanned compaction could be automatically fulfilled by the smart vibratory roller. In order to ensure the compaction quality in the servo constraints-following, the uncertainties in the unmanned construction may not be ignored by the smart vibratory roller (e.g., the varying stiffness and damping coefficients of the compaction materials, the disturbances of the vibration frequency and the roughness). Those uncertain factors are time-varying and unknown. A robust algorithm is proposed to estimate the real-time information of the uncertainties during the compaction construction. With the estimated uncertainty information, a switched servo constraints control for the unmanned compaction is constructed. The performance of the control system is theoretically verified by the practical stability theory (i.e., uniform boundedness and uniform ultimate boundedness under the compaction uncertainties). The feasibility of the proposed control method is illustrated by the simulation of an unmanned double drum vibratory roller in the compaction construction.