FEEDBACK LINEARISATION APPLIED ON A HYDRAULIC

Torben Ole Andersen; Michael Rygaard Hansen; Henrik C. Pedersen; Finn Conrad

FEEDBACK LINEARISATION APPLIED ON A HYDRAULIC

Torben Ole Andersen, Michael Rygaard Hansen, Henrik C. Pedersen, Finn Conrad

Aalborg University

Research output: Chapter in Book/Report/Conference proceeding › Article in proceedings › Research › peer-review

Abstract

Generally most hydraulic systems are intrensically non-linear, why applying linear control techniques typically results in conservatively dimensioned controllers to obtain stable performance. Non-linear control techniques have the potential of overcoming these problems, and in this paper the focus is on developing and applying several different feedback linearisation (FL) controllers to the individual servo actuators in a hydraulically driven servo robot to evaluate and compare their possiblities and limitations. This is done based on both simulation and experimental results.

Original language	English
Title of host publication	6th International Symposium on FLUID POWER 2005
Number of pages	822
Place of Publication	TSUKUBA, Japan
Publisher	Japan Fluid Power System Society (JFPS)6th
Publication date	2005
Edition	6th
Pages	167-172
ISBN (Print)	4-931070-06-X
Publication status	Published - 2005
Event	6th International Symposium on FLUID POWER - Tsukuba, Japan Duration: 7 Nov 2005 → 10 Nov 2005 Conference number: 6 http://www.jfps.jp/net/6thisfp/index.htm

Conference

Conference	6th International Symposium on FLUID POWER
Number	6
Country/Territory	Japan
City	Tsukuba
Period	07/11/2005 → 10/11/2005
Internet address	http://www.jfps.jp/net/6thisfp/index.htm

Keywords

Feedback linearisation
hydraulic servo system

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abstract = "Generally most hydraulic systems are intrensically non-linear, why applying linear control techniques typically results in conservatively dimensioned controllers to obtain stable performance. Non-linear control techniques have the potential of overcoming these problems, and in this paper the focus is on developing and applying several different feedback linearisation (FL) controllers to the individual servo actuators in a hydraulically driven servo robot to evaluate and compare their possiblities and limitations. This is done based on both simulation and experimental results.",

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booktitle = "6th International Symposium on FLUID POWER 2005",

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FEEDBACK LINEARISATION APPLIED ON A HYDRAULIC. / Andersen, Torben Ole; Hansen, Michael Rygaard; Pedersen, Henrik C. et al.
6th International Symposium on FLUID POWER 2005. 6th. ed. TSUKUBA, Japan: Japan Fluid Power System Society (JFPS)6th, 2005. p. 167-172.

Research output: Chapter in Book/Report/Conference proceeding › Article in proceedings › Research › peer-review

TY - GEN

T1 - FEEDBACK LINEARISATION APPLIED ON A HYDRAULIC

AU - Andersen, Torben Ole

AU - Hansen, Michael Rygaard

AU - Pedersen, Henrik C.

AU - Conrad, Finn

N1 - Conference code: 6

PY - 2005

Y1 - 2005

N2 - Generally most hydraulic systems are intrensically non-linear, why applying linear control techniques typically results in conservatively dimensioned controllers to obtain stable performance. Non-linear control techniques have the potential of overcoming these problems, and in this paper the focus is on developing and applying several different feedback linearisation (FL) controllers to the individual servo actuators in a hydraulically driven servo robot to evaluate and compare their possiblities and limitations. This is done based on both simulation and experimental results.

AB - Generally most hydraulic systems are intrensically non-linear, why applying linear control techniques typically results in conservatively dimensioned controllers to obtain stable performance. Non-linear control techniques have the potential of overcoming these problems, and in this paper the focus is on developing and applying several different feedback linearisation (FL) controllers to the individual servo actuators in a hydraulically driven servo robot to evaluate and compare their possiblities and limitations. This is done based on both simulation and experimental results.

KW - Feedback linearisation

KW - hydraulic servo system

M3 - Article in proceedings

SN - 4-931070-06-X

SP - 167

EP - 172

BT - 6th International Symposium on FLUID POWER 2005

PB - Japan Fluid Power System Society (JFPS)6th

CY - TSUKUBA, Japan

T2 - 6th International Symposium on FLUID POWER

Y2 - 7 November 2005 through 10 November 2005

ER -

FEEDBACK LINEARISATION APPLIED ON A HYDRAULIC

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Keywords

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