Motion Planning and Nonlinear Control for Hydraulic Presses


A press is a complicated hydraulic mechanical device, the nonlinearity of which stemming mainly from the servovalves and hydraulic phenomena such as cavitation. This project is involved in the modeling of such devices and the control in order to increase the efficiency of these systems. The main task is to compute an open loop control that handles the nonlinearity properly. Classical tools from nonlinear control will also be investigated such as exact full and partial feedback linearisation and Lypunov based control. Motion planning based on flatness will also be studied.

– Construction of adequate hardware for data acquisition compatible with the industry standard.
– Real-time data acquisition software development
– Model validation using measured data
– Parameter identification
– Nonlinear control based on feedforward control and Lyapunov design