High-Precision Trajectory Tracking Control Strategy for Loader Working Device

To improve the automation accuracy and efficiency of the loader working device, this paper proposes a control strategy based on an adaptive backstepping algorithm to address the trajectory tracking control problem under strong nonlinearity, parameter uncertainty, and external load disturbances. Firstly, the working principle of the electro-hydraulic proportional control system of the working device is systematically elaborated, and a nonlinear mathematical model of the system is established. Secondly, an adaptive backstepping tracking controller is designed, which progressively constructs virtual control variables via the backstepping method to ensure system stability, while introducing adaptive laws to estimate uncertain parameters online, thereby compensating for system parameter perturbations and nonlinear disturbances in real time. Finally, an experimental platform for the loader working device is built, and comparative trajectory tracking experiments are conducted. The results demonstrate that, compared to classical PID control, the proposed adaptive backstepping control strategy significantly enhances trajectory tracking accuracy, reducing the maximum displacement error of the bucket tip trajectory by 50.88% and the root mean square error (RMSE) by 56.07%.