Model Based Position Control of Soft Hydraulic Actuators

Authors

Mark Runciman, Enrico Franco, James Avery, Ferdinando Rodriguez y Baena, George Mylonas

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.

Citation

• Journal: 2023 IEEE International Conference on Robotics and Automation (ICRA)
• Year: 2023
• Volume:
• Issue:
• Pages: 2676–2682
• Publisher: IEEE
• DOI: 10.1109/icra48891.2023.10161573

BibTeX

@inproceedings{Runciman_2023,
  title={{Model Based Position Control of Soft Hydraulic Actuators}},
  DOI={10.1109/icra48891.2023.10161573},
  booktitle={{2023 IEEE International Conference on Robotics and Automation (ICRA)}},
  publisher={IEEE},
  author={Runciman, Mark and Franco, Enrico and Avery, James and Rodriguez y Baena, Ferdinando and Mylonas, George},
  year={2023},
  pages={2676--2682}
}

Download the bib file

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