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R. Bindel, R. Nitsche, R. Rothfuß, Michael Zeitz
Flatness Based Control of a Two Valve Hydraulic Joint of a Large Manipulator
For the hydraulically driven joint of a large manipulator, a new control scheme is applied using the flatness of the hydraulic actuator with two valves. Position and pressure can be controlled independently by expanding the SISO system with one valve to a MIMO system with two valves. The model is described by piecewisely defined nonlinear equations. It is shown that the system is flat. The flatness property allows a piecewisely defined approach for the nonlinear tracking problem. In order to minimize the energy consumption, suitable trajectories for the displacement of the actuator and the pressure inside are chosen that can be tracked based on static state feedback linearization. For implementation of the state feedback, the design of a nonlinear tracking observer with time-varying gains is proposed. The feasibility of the proposed trajectory control scheme is verified in simulation and by a laboratory test bench.
at – Automatisierungstechnik, Oldenbourg Wissenschaftsverlag
Print ISSN: 0178-2312
Volume: 48, 03/2000
Pages: 124