5th International Conference on Computational Intelligence, Robotics and Autonomous Systems, CIRAS 2008
Sprache des Tagungstitel:
Englisch
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.