ICRA 2023poster2 citations
Model Based Position Control of Soft Hydraulic Actuators
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.
BibTeX
@inproceedings{icra2023_modelbasedpositi,
title = {Model Based Position Control of Soft Hydraulic Actuators},
author = {Mark Runciman and Enrico Franco and James Avery and Ferdinando Rodriguez y Baena and George Mylonas},
booktitle = {ICRA 2023},
year = {2023}
}