Title:Energy based control of a hydromechanical systemAuthor(s):Bernhard Ramsebner, Karl RiegerAbstract: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.Journal:Robotics and Autonomous SystemsPublisher:ElsevierISSN:0921-8890Page Reference:page 1006 - 1011, 6 page(s)Publishing:10/2009Volume:57Number:10