Christian Mayrhofer, Bernhard Ramsebner, Karl Rieger,
"Energy Based Control of a Hydromechanical System"
: Preprint-Proceedings 5th International Conference on Computational Intelligence, Robotics and Autonomous Systems, CIRAS 2008, Seite(n) 202-207, 6-2008
Original Titel:
Energy Based Control of a Hydromechanical System
Sprache des Titels:
Englisch
Original Buchtitel:
Preprint-Proceedings 5th International Conference on Computational Intelligence, Robotics and Autonomous Systems, CIRAS 2008
Original Kurzfassung:
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.
Sprache der Kurzfassung:
Englisch
Seitenreferenz:
202-207
Erscheinungsmonat:
6
Erscheinungsjahr:
2008
Anzahl der Seiten:
6
Notiz zur Publikation:
Mayrhofer C., Ramsebner B., Rieger K.: Energy Based Control of a Hydromechanical System In: Preprint-Proceedings 5th International Conference on Computational Intelligence, Robotics and Autonomous Systems, CIRAS 2008, June 19-21, Linz, Austria, pp. 202-207, 2008.