A nonlinear spring model of hydraulic actuator for passive controller design in bilateral tele-operation

Venkat Durbha; Perry Li

doi:10.1109/acc.2012.6315243

A nonlinear spring model of hydraulic actuator for passive controller design in bilateral tele-operation

Venkat Durbha, Perry Li

Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

10 Scopus citations

Abstract

In this paper, the expressions that define compressibility of hydraulic medium are used to develop a nonlinear spring-like model for a hydraulic actuator. Using this model, an energy based controller for passive bilateral tele-operation of hydraulic actuator is designed. The control problem is posed to achieve power amplification from the master to the slave. The unknown external forces on the slave system are assumed to be constant and are estimated using techniques from direct adaptive control. Efficacy of the controller is evaluated by implementing it on a single degree-of-freedom setup. Experimental results demonstrate good co-ordination characteristics both in free space and when encountering a hard surface.

Original language	English (US)
Title of host publication	2012 American Control Conference, ACC 2012
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	3471-3476
Number of pages	6
ISBN (Print)	9781457710957
DOIs	https://doi.org/10.1109/acc.2012.6315243
State	Published - 2012
Event	2012 American Control Conference, ACC 2012 - Montreal, QC, Canada Duration: Jun 27 2012 → Jun 29 2012

Publication series

Name	Proceedings of the American Control Conference
ISSN (Print)	0743-1619

Other

Other	2012 American Control Conference, ACC 2012
Country/Territory	Canada
City	Montreal, QC
Period	6/27/12 → 6/29/12

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10.1109/acc.2012.6315243

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A nonlinear spring model of hydraulic actuator for passive controller design in bilateral tele-operation. / Durbha, Venkat; Li, Perry.

2012 American Control Conference, ACC 2012. Institute of Electrical and Electronics Engineers Inc., 2012. p. 3471-3476 6315243 (Proceedings of the American Control Conference).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Durbha, V & Li, P 2012, A nonlinear spring model of hydraulic actuator for passive controller design in bilateral tele-operation. in 2012 American Control Conference, ACC 2012., 6315243, Proceedings of the American Control Conference, Institute of Electrical and Electronics Engineers Inc., pp. 3471-3476, 2012 American Control Conference, ACC 2012, Montreal, QC, Canada, 6/27/12. https://doi.org/10.1109/acc.2012.6315243

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AB - In this paper, the expressions that define compressibility of hydraulic medium are used to develop a nonlinear spring-like model for a hydraulic actuator. Using this model, an energy based controller for passive bilateral tele-operation of hydraulic actuator is designed. The control problem is posed to achieve power amplification from the master to the slave. The unknown external forces on the slave system are assumed to be constant and are estimated using techniques from direct adaptive control. Efficacy of the controller is evaluated by implementing it on a single degree-of-freedom setup. Experimental results demonstrate good co-ordination characteristics both in free space and when encountering a hard surface.

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A nonlinear spring model of hydraulic actuator for passive controller design in bilateral tele-operation

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