Authors

Andreas Kugi, Wolfgang Kemmetmüller

Abstract

This paper is devoted to the impedance control problem of a double-acting hydraulic piston actuator. Thereby, it is the task of the impedance control system to produce a response to an external force which corresponds to the response of a predefined mechanical system, with a desired (nonlinear) stiffness and a desired (nonlinear) damping characteristics around a desired operating point of the piston position. The controller design is based on a port-Hamiltonian representation of the mathematical model utilizing the fundamental thermodynamic relations of an isentropic fluid.

Keywords

hydraulic piston actuator, impedance control, nonlinear control, port-hamiltonian system

Citation

  • Journal: IFAC Proceedings Volumes
  • Year: 2004
  • Volume: 37
  • Issue: 13
  • Pages: 961–966
  • Publisher: Elsevier BV
  • DOI: 10.1016/s1474-6670(17)31350-2
  • Note: 6th IFAC Symposium on Nonlinear Control Systems 2004 (NOLCOS 2004), Stuttgart, Germany, 1-3 September, 2004

BibTeX

@article{Kugi_2004,
  title={{Impedance Control of hydraulic piston actuators}},
  volume={37},
  ISSN={1474-6670},
  DOI={10.1016/s1474-6670(17)31350-2},
  number={13},
  journal={IFAC Proceedings Volumes},
  publisher={Elsevier BV},
  author={Kugi, Andreas and Kemmetmüller, Wolfgang},
  year={2004},
  pages={961--966}
}

Download the bib file

References

  • Alleyne, A. & Hedrick, J. K. Nonlinear adaptive control of active suspensions. IEEE Trans. Contr. Syst. Technol. 3, 94–101 (1995) – 10.1109/87.370714
  • Burke, (1994)
  • Chorin, (2000)
  • Hogan, N. Impedance Control: An Approach to Manipulation: Part I—Theory. Journal of Dynamic Systems, Measurement, and Control 107, 1–7 (1985) – 10.1115/1.3140702
  • Khalil, (2002)
  • Krstić, (1995)
  • Kugi, (2001)
  • Kugi, Energy based modelling of lumped-parameter hydraulic systems. (2003)
  • Kugi, New energy-based nonlinear controller for hydraulic piston actuators. (2004)
  • Merritt, (1967)
  • Sepulchre, (1997)
  • Stramigioli, (2001)
  • Sychev, (1992)
  • THOMPSON, A. G. Optimal and Suboptimal Linear Active Suspensions for Road Vehicles. Vehicle System Dynamics 13, 61–72 (1984) – 10.1080/00423118408968767
  • van der Schaft, (2000)
  • van der Schaft, Fluid dynamical systems as hamiltonian boundary control systems. (2001)