Energy-based nonlinear control of hydraulically actuated mechanical systems

Gernot Grabmair, Kurt Schlacher

Research output: Chapter in Book/Report/Conference proceedingsConference contributionpeer-review

21 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationProceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
Pages7520-7525
Number of pages6
DOIs
Publication statusPublished - 2005
Externally publishedYes
Event44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05 - Seville, Spain
Duration: 12 Dec 200515 Dec 2005

Publication series

NameProceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
Volume2005

Conference

Conference44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
Country/TerritorySpain
CitySeville
Period12.12.200515.12.2005

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