By Topic

Digital control of an experimental hydraulic manipulator

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
van der Linden, G.-W. ; Mech. Eng. Syst. & Control Group, Delft Univ. of Technol., Netherlands ; Valk, P.

This paper considers the implementation of a complex nonlinear control law on DSP-based multiprocessor hardware, to control a three-axis hydraulic manipulator. To obtain high performance position control, a two-step approach is taken: first cancel the nonlinearities by a feedback linearisation law, then control the resulting system by a robust linear control law, using the H/μ controller design method. The resulting implementation consists of one master DSP handling all I/O, and one DSP for each control law, resulting in a three processor system. It is shown that communication overhead can be kept to a minimum, allowing an efficient multiprocessor implementation.

Published in:

American Control Conference, 1994  (Volume:3 )

Date of Conference:

29 June-1 July 1994