Title :
Control of a hydraulic parallel link servomechanism
Author :
Sato, S. ; Tanabe, Y.
Author_Institution :
Dept. of Mech. Syst. Eng., Musashi Inst. of Technol., Tokyo, Japan
fDate :
Aug. 31 1999-Sept. 3 1999
Abstract :
A hydraulic parallel link servomechanism which has hydraulic cylinders as variable-length links, is applied to a motion control system with three degrees of freedom. Preview control is applied to a profile tracing system. A disturbance observer and H∞ control are applied to the system to improve the accuracy and achieve robust stability. The effectiveness of these. control methods is experimentally confirmed.
Keywords :
H∞ control; end effectors; hydraulic control equipment; motion control; observers; robust control; H∞ control; disturbance observer; hydraulic cylinders; hydraulic parallel link servomechanism control; motion control system; preview control; profile tracing system; robust stability; variable-length links; Force; Mathematical model; Observers; Robust stability; Servomechanisms; Trajectory; Disturbance observer; Electrohydraulic servo-mechanism; H∞ control; Parallel link; Preview control;
Conference_Titel :
Control Conference (ECC), 1999 European
Conference_Location :
Karlsruhe
Print_ISBN :
978-3-9524173-5-5
