Crawler excavators are important, utilitarian machines in construction industries. Special features of the chain and chassis allow them to operate and move on unstable ground. The shock motions of the links, which coincide with the changes of the forces impacting the foundation, create vibrations within the entire system. The highest level of vibrations appears when the boom moves, as it holds the robotic excavator's entire actuator with large mass and moment of inertia. These undesired fluctuations cause system instability, driver discomfort, reduced operating efficiency, and increased energy consumption. In this study, a hierarchical sliding mode control focusing on boom movement is designed based on the system dynamic model. This controller allows the boom to move precisely with a slight fluctuation angle of the main body, even while the other links are moving using a parameter estimator. Maintaining stable boom movements significantly simplifies arm and bucket control. The effectiveness of the entire work is investigated by numerical simulation and implementation results on a small-scale hydraulic excavator.

履带挖掘机是建筑行业中重要的实用机器。链条和底盘的特殊功能使它们可以在不稳定的地面上运行和移动。连杆的冲击运动，与影响基础的力的变化一致，在整个系统内产生振动。动臂移动时会出现最高水平的振动，因为动臂以较大的质量和惯性矩固定了机器人挖掘机的整个执行器。这些不希望的波动会导致系统不稳定，驾驶员不适，操作效率降低以及能耗增加。在这项研究中，基于系统动力学模型设计了一种侧重于动臂运动的分层滑模控制。该控制器可使动臂在主体的微小波动角度下精确地移动，即使其他链接正在使用参数估算器移动。保持稳定的起重臂运动大大简化了斗杆和铲斗的控制。通过数值模拟和在小型液压挖掘机上的实施结果，研究了整个工作的有效性。