2023/02/22 by Mark Runciman, Runciman, Mark, Enrico Franco +7
Engineering · #Control and Stability of Dynamical Systems #FOS: Computer and information sciences #Hydraulic and Pneumatic Systems #Oil and Gas Production Techniques #Robotics (cs.RO)
paper · pdf · doi:10.48550/arxiv.2302.11311
openalex publication_date 2023/02/22 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
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.