Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
411680 | Robotics and Autonomous Systems | 2009 | 6 Pages |
Abstract
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.
Related Topics
Physical Sciences and Engineering
Computer Science
Artificial Intelligence
Authors
Bernhard Ramsebner, Karl Rieger,