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Model Based Position Control of Soft Hydraulic Actuators

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arxiv 2302.11311 v2 pith:7UQ3IFZG submitted 2023-02-22 cs.RO

Mark Runciman , Enrico Franco , James Avery , Ferdinando Rodriguez y Baena , George Mylonas This is my paper · ORCID
classification cs.RO
keywords controlmodelactuatorsapproachexternalforceshydraulicposition
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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.

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