Search results for "Computer Science - Systems and Control"
showing 2 items of 12 documents
Impulse-based hybrid motion control
2017
The impulse-based discrete feedback control has been proposed in previous work for the second-order motion systems with damping uncertainties. The sate-dependent discrete impulse action takes place at zero crossing of one of both states, either relative position or velocity. In this paper, the proposed control method is extended to a general hybrid motion control form. We are using the paradigm of hybrid system modeling while explicitly specifying the state trajectories each time the continuous system state hits the guards that triggers impulsive control actions. The conditions for a stable convergence to zero equilibrium are derived in relation to the control parameters, while requiring on…
Full- and Reduced-order Model of Hydraulic Cylinder for Motion Control
2017
This paper describes the full- and reduced-order models of an actuated hydraulic cylinder suitable for system dynamics analysis and motion control design. The full-order model incorporates the valve spool dynamics with combined dead-zone and saturation nonlinearities - inherent for the orifice flow. It includes the continuity equations of hydraulic circuits coupled with the dynamics of mechanical part of cylinder drive. The resulted model is the fifth-order and nonlinear in states. The reduced model neglects the fast valve spool dynamics, simplifies both the orifice and continuity equations through an aggregation, and considers the cylinder rod velocity as output of interest. The reduced mo…