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.
翻译:在本条中,我们调查以对立对方安排的软液压驱动器的模型定位控制。该系统的动态模型是通过使用港口-汉堡配方构建的。一种控制算法的设计采用了一种能成形法,该算法考虑到液体的压力动态。包括一个非线性观察者,以补偿未知外部力量的影响。模拟表明拟议方法的有效性,实验达到0.043毫米的定位精度,标准偏差为0.033毫米,且外部力量不变,直至1海里。