Model Based Position Control of Soft Hydraulic Actuators
Mark Runciman,Enrico Franco,James Avery,Ferdinando Rodriguez y Baena,George Mylonas,Mark Runciman,Enrico Franco,James Avery,Ferdinando Rodriguez y Baena,George Mylonas
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 ...
