arXiv
Open Access
2023
Model Based Position Control of Soft Hydraulic Actuators
Mark Runciman
Enrico Franco
James Avery
Ferdinando Rodriguez y Baena
George Mylonas
Abstrak
In this article, we investigate the model based position control of soft hydraulic actuators arranged in an antagonistic pair. A dynamical model of the system is constructed by employing the port-Hamiltonian formulation. A control algorithm is designed with an energy shaping approach which accounts for the pressure dynamics of the fluid. A nonlinear observer is included to compensate the effect of unknown external forces. Simulations demonstrate the effectiveness of the proposed approach, and experiments achieve positioning accuracy of 0.043 mm with a standard deviation of 0.033 mm in the presence of constant external forces up to 1 N.
Topik & Kata Kunci
Penulis (5)
M
Mark Runciman
E
Enrico Franco
J
James Avery
F
Ferdinando Rodriguez y Baena
G
George Mylonas
Akses Cepat
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- Tahun Terbit
- 2023
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