TY - GEN
T1 - A nonlinear spring model of hydraulic actuator for passive controller design in bilateral tele-operation
AU - Durbha, Venkat
AU - Li, Perry
N1 - Copyright:
Copyright 2020 Elsevier B.V., All rights reserved.
PY - 2012
Y1 - 2012
N2 - 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.
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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U2 - 10.1109/acc.2012.6315243
DO - 10.1109/acc.2012.6315243
M3 - Conference contribution
AN - SCOPUS:84869477103
SN - 9781457710957
T3 - Proceedings of the American Control Conference
SP - 3471
EP - 3476
BT - 2012 American Control Conference, ACC 2012
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2012 American Control Conference, ACC 2012
Y2 - 27 June 2012 through 29 June 2012
ER -