Adaptive control of Bulldozer's workflows

Alexej Bulgakov, Sergei Emelianov, Thomas Bock, Georgy Tokmakov

Research output: Contribution to conferencePaperpeer-review

3 Scopus citations


The most important task for bulldozer's traction mode control is to use its traction capacity in full by means of its end-effectors control. To keep traction mode at maximum or at a given resistance value applied to end-effectors automatically is difficult due to a great number of stochastic factors affecting the bulldozer. Bulldozer is taken as a mechatronic system [1, 2]. The study presents analytic dependences for the sub-processes where analytic modeling based on bulldozer's parameters correlation knowledge is applicable. Models of the sub-processes are included into the general structure of bulldozer's workflow simulation model. Simulation technique is demonstrated through model development of the bulldozer as a universal machine operating in modes of soil movement and subgrade surfacing. In developing the models mathematical apparatus of the theory of random processes, transfer functions, table interpolation, numerical solution of algebraic equations and ordinary differential equations in the Cauchy form was used. A dynamic model of the drawing prism formation was developed describing the dependence of the volume of prism on the variable digging depth and variable bulldozer speed. A general structure of the model of bulldozer's workflows due to the working process control objectives was developed.

Original languageEnglish
Number of pages8
StatePublished - 2016
Externally publishedYes
Event33rd International Symposium on Automation and Robotics in Construction, ISARC 2016 - Auburn, United States
Duration: 18 Jul 201621 Jul 2016


Conference33rd International Symposium on Automation and Robotics in Construction, ISARC 2016
Country/TerritoryUnited States


  • Automation and control
  • Bulldozer
  • Neural network technologies
  • Robotics and mechatronics


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