Energy Based Control of a Hydromechanical System

Description

This contribution deals with the energy based controller design for an under-actuated mechanical system with a hydraulic piston. In particular, the example consists of a single acting piston actuator and a rigid mass between two springs which is assigned with the under actuated degree of freedom. In addition, it is shown that the general nonlinear system can be converted to a linear one by means of an input transformation. For the resulting system a static feedback control is designed based on energy consideration. Since the control algorithm requires the measurement of velocities, which hence are not available, it is extended by a reduced observer to substitute the measurement by estimation.

Period	20 Jun 2008
Event title	5th International Conference on Computational Intelligence, Robotics and Autonomous Systems, CIRAS 2008
Event type	Conference
Location	AustriaShow on map