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

Venkat Durbha, Perry Li

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish (US)
Title of host publication2012 American Control Conference, ACC 2012
Pages3471-3476
Number of pages6
StatePublished - Nov 26 2012
Event2012 American Control Conference, ACC 2012 - Montreal, QC, Canada
Duration: Jun 27 2012Jun 29 2012

Publication series

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

Other

Other2012 American Control Conference, ACC 2012
CountryCanada
CityMontreal, QC
Period6/27/126/29/12

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