Bernhard Ramsebner, Karl Rieger,
"Energy based control of a hydromechanical system"
, in Robotics and Autonomous Systems, Vol. 57, Nummer 10, Elsevier, Seite(n) 1006 - 1011, 10-2009, ISSN: 0921-8890
Original Titel:
Energy based control of a hydromechanical system
Sprache des Titels:
Englisch
Original Kurzfassung:
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.
Sprache der Kurzfassung:
Englisch
Journal:
Robotics and Autonomous Systems
Veröffentlicher:
Elsevier
Volume:
57
Number:
10
Seitenreferenz:
1006 - 1011
Erscheinungsmonat:
10
Erscheinungsjahr:
2009
ISSN:
0921-8890
Anzahl der Seiten:
6
Notiz zur Publikation:
Ramsebner B., Rieger K.: Energy based control of a hydromechanical system, In: Robotics and Autonomous Systems, Vol. 57, No. 10, Elsevier, pp. 1006-1011, ISSN: 0921-8890, 2009.
Forschungs-