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A cascaded control strategy for an innovative Duocopter test stand - a helicopter with two rotors combined with a guiding mechanism - is presented in this paper. The guiding mechanism consists of a rocker arm with a sliding carriage that enforces a planar workspace of the Duocopter. The Duocopter is connected to the carriage by a rotary joint and offers 3 degrees of freedom. The derived system model...
A decentralised approach is proposed in this paper for an optimal tracking control (OTC) of a hydrostatic transmission, which is commonly used in working machines. An unknown leakage volume flow and a resulting load torque have been taken into account as lumped disturbances. Together with unmeasurable system states, the normalised swashplate and the normalised bent axis angles, the proposed controller...
A comparison of two passivity-based control strategies — with and without an integral control action — is proposed in this paper for the tracking control of a hydrostatic transmission, which is commercially used in working machines. An unknown leakage volume flow and a resulting load torque are taken into account as lumped disturbances. These disturbances and two unmeasurable state variables — the...
Based on a decentralised control structure, two fast nonlinear model predictive control (FNMPC) algorithms — a gradient-based FNMPC and a Newton-Raphson-based FNMPC — are investigated and compared for the tracking control of the motor angular velocity of a hydrostatic drive train, which is commercially used in working machines. A flatness-based approach is employed for the tracking control of the...
A cascaded control strategy for an innovative Duocopter test stand — a helicopter with two rotors combined with a guiding mechanism — is presented in this paper. The guiding mechanism consists of a rocker arm with a sliding carriage that enforces a planar workspace of the Duocopter. The Duocopter is connected to the carriage by a rotary joint and offers 3 degrees of freedom. The derived system model...
A comparison of two control strategies using extended linearisation - with and without an integral part - is presented in this paper for the tracking control of a hydrostatic transmission. An unknown leakage volume flow and a resulting load torque are taken into account as lumped disturbances. These disturbances and two unmeasurable state variables - the normalised swashplate angle and the normalised...
A comparison of two decentralised backstepping control strategies - with and without an integral part - is presented in this paper for the tracking control of a hydrostatic drive train, which is commercially used in working machines. An unknown leakage volume flow and a resulting load torque are taken into account as lumped disturbances. These disturbances and two unmeasurable state variables - the...
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