TY - GEN
T1 - Energy-based nonlinear control of hydraulically actuated mechanical systems
AU - Grabmair, Gernot
AU - Schlacher, Kurt
PY - 2005
Y1 - 2005
N2 - This contribution is devoted to a nonlinear energy based controller design for plants consisting of a mechanical 1-DOF load system coupled to a general hydraulic actuator. A systematic controller design which maintains the Port Hamiltonian structure of the plant is demonstrated for the case of a double-ended piston with only one servovalve. The developed controller shows good robustness properties and is able to inject additional damping into the load system without velocity measurement. Finally, the performance of the control law is demonstrated by application to a special industrial plant.
AB - This contribution is devoted to a nonlinear energy based controller design for plants consisting of a mechanical 1-DOF load system coupled to a general hydraulic actuator. A systematic controller design which maintains the Port Hamiltonian structure of the plant is demonstrated for the case of a double-ended piston with only one servovalve. The developed controller shows good robustness properties and is able to inject additional damping into the load system without velocity measurement. Finally, the performance of the control law is demonstrated by application to a special industrial plant.
UR - http://www.scopus.com/inward/record.url?scp=33847192875&partnerID=8YFLogxK
U2 - 10.1109/CDC.2005.1583375
DO - 10.1109/CDC.2005.1583375
M3 - Conference contribution
AN - SCOPUS:33847192875
SN - 0780395689
SN - 9780780395688
T3 - Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
SP - 7520
EP - 7525
BT - Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
T2 - 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
Y2 - 12 December 2005 through 15 December 2005
ER -