Model based position control of soft hydraulic actuators
File(s)
Accepted version
Author(s)
Runciman, Marc
Franco, Enrico
Avery, James
Rodriguez y Baena, Ferdinando
Mylonas, George
Type
Conference Paper
Abstract
In this article, we investigate the model based position control of soft hydraulic actuators arranged in an an-
tagonistic 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.
tagonistic 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.
Date Issued
2023-07-04
Date Acceptance
2023-01-17
Citation
2023 IEEE International Conference on Robotics and Automation (ICRA), 2023, pp.1-7
ISBN
979-8-3503-2365-8
Publisher
IEEE
Start Page
1
End Page
7
Journal / Book Title
2023 IEEE International Conference on Robotics and Automation (ICRA)
Copyright Statement
Copyright © 2023 The Author(s). This work is licensed under a Creative Commons Attribution 4.0 International License (https://creativecommons.org/licenses/by/4.0/).
License URL
Identifier
https://ieeexplore.ieee.org/abstract/document/10161573
Source
IEEE International Conference on Robotics and Automation
Publication Status
Published
Start Date
2023-05-29
Finish Date
2023-06-02
Coverage Spatial
London, UK
Date Publish Online
2023-07-04