NONLINEAR CONTROL OF A PLANAR MULTIAXIS SERVOHYDRAULIC TEST FACILITY USING EXACT LINEARIZATION TECHNIQUES

Authors
HAHN H ZHANG X LEIMBACH KD SOMMER HJ
Citation
H. Hahn et al., NONLINEAR CONTROL OF A PLANAR MULTIAXIS SERVOHYDRAULIC TEST FACILITY USING EXACT LINEARIZATION TECHNIQUES, Kybernetika, 30(5), 1994, pp. 477-488
Citations number
5
Categorie Soggetti
Controlo Theory & Cybernetics","Computer Science Cybernetics
Journal title
Kybernetika → ACNP
ISSN journal
00235954
Volume
30
Issue
5
Year of publication
1994
Pages
477 - 488
Database
ISI
SICI code
0023-5954(1994)30:5<477:NCOAPM>2.0.ZU;2-8
Abstract
This paper presents a nonlinear control concept of a planar multi-axis servohydraulic test facility. Based on nonlinear model equations incl uding servohydraulic actuator dynamics and test table and payload mech anics a global nonlinear diffeomorphism is derived which maps the mode l equations into nonlinear canonical form. A nonlinear control law is derived using exact linearization techniques. The lengthy controller e xpressions are calculated by applying symbolic computer languages.