Energy based control of a hydromechanical system

Bernhard Ramsebner; Karl Rieger

doi:10.1016/j.robot.2009.07.015

Energy based control of a hydromechanical system

Bernhard Ramsebner, Karl Rieger

Institute of Control Systems

Research output: Contribution to journal › Article › peer-review

Abstract

This contribution deals with an energy based controller design for an under-actuated mechanical system with a hydraulic piston actuator. In particular, the example consists of a single acting piston actuator and a rigid mass between two springs. For the resulting system a static feedback control is designed based on energy consideration. Since the control algorithm requires the velocities, which are not measurable in this application, it is extended by a reduced observer. In addition, the stability of the desired equilibrium of the closed loop system is proven and the results are illustrated by simulation.

Original language	English
Pages (from-to)	1006 - 1011
Number of pages	6
Journal	Robotics and Autonomous Systems
Volume	57
Issue number	10
DOIs	https://doi.org/10.1016/j.robot.2009.07.015
Publication status	Published - Oct 2009

Fields of science

101028 Mathematical modelling
202 Electrical Engineering, Electronics, Information Engineering
202003 Automation
202017 Embedded systems
202027 Mechatronics
202034 Control engineering
203015 Mechatronics

Access to Document

10.1016/j.robot.2009.07.015

Cite this

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abstract = "This contribution deals with an energy based controller design for an under-actuated mechanical system with a hydraulic piston actuator. In particular, the example consists of a single acting piston actuator and a rigid mass between two springs. For the resulting system a static feedback control is designed based on energy consideration. Since the control algorithm requires the velocities, which are not measurable in this application, it is extended by a reduced observer. In addition, the stability of the desired equilibrium of the closed loop system is proven and the results are illustrated by simulation.",

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AB - This contribution deals with an energy based controller design for an under-actuated mechanical system with a hydraulic piston actuator. In particular, the example consists of a single acting piston actuator and a rigid mass between two springs. For the resulting system a static feedback control is designed based on energy consideration. Since the control algorithm requires the velocities, which are not measurable in this application, it is extended by a reduced observer. In addition, the stability of the desired equilibrium of the closed loop system is proven and the results are illustrated by simulation.

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