Title:Energy Based Control of a Hydromechanical SystemAuthor(s):Christian Mayrhofer, Bernhard Ramsebner, Karl RiegerAbstract: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.Booktitle:Preprint-Proceedings 5th International Conference on Computational Intelligence, Robotics and Autonomous Systems, CIRAS 2008Page Reference:page 202-207, 6 page(s)Publishing:6/2008