Abstract
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.
| Original language | English |
|---|---|
| Title of host publication | Preprint-Proceedings 5th International Conference on Computational Intelligence, Robotics and Autonomous Systems, CIRAS 2008 |
| Pages | 202-207 |
| Number of pages | 6 |
| Publication status | Published - Jun 2008 |
Fields of science
- 101028 Mathematical modelling
- 202 Electrical Engineering, Electronics, Information Engineering
- 202003 Automation
- 202017 Embedded systems
- 202027 Mechatronics
- 202034 Control engineering
- 203015 Mechatronics