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Digital control of an experimental hydraulic manipulator

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

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