کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
411680 | 679584 | 2009 | 6 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Energy based control of a hydromechanical system
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کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
مهندسی کامپیوتر
هوش مصنوعی
پیش نمایش صفحه اول مقاله

چکیده انگلیسی
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.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Robotics and Autonomous Systems - Volume 57, Issue 10, 31 October 2009, Pages 1006–1011
Journal: Robotics and Autonomous Systems - Volume 57, Issue 10, 31 October 2009, Pages 1006–1011
نویسندگان
Bernhard Ramsebner, Karl Rieger,