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Force Tracking Impedance Control of Hydraulic Series Elastic Actuators Interacting with Unknown Environment

Author

Listed:
  • Yong Nie

    (The State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China
    Hainan Instruction of Zhejiang University, Sanya 572025, China)

  • Jiajia Liu

    (Hainan Instruction of Zhejiang University, Sanya 572025, China
    Ocean College, Zhejiang University, Zhoushan 316021, China)

  • Gang Liu

    (No.2 Research Department, Wuhan Second Ship Design and Research Institute, Wuhan 430205, China)

  • Litong Lyu

    (School of Mechanical Engineering, Shijiazhuang Tiedao University, Shijiazhuang 050043, China)

  • Jie Li

    (School of Mechanical Engineering, Shijiazhuang Tiedao University, Shijiazhuang 050043, China)

  • Zheng Chen

    (The State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China
    Hainan Instruction of Zhejiang University, Sanya 572025, China
    Ocean College, Zhejiang University, Zhoushan 316021, China)

Abstract

Force tracking control for hydraulic series elastic actuators (SEAs) is the demand in robots interacting with the surrounding world. However, the inherent nonlinearities and uncertainties of the hydraulic system, as well as the unknown environment, make it difficult to achieve precise contact force control of hydraulic SEAs. Therefore, in this study, force tracking impedance control of hydraulic SEAs is developed considering interaction with an unknown environment in which the force tracking performance can be guaranteed in theory. Based on the typical force tracking impedance frame, the force tracking performance is improved by introducing backstepping control into the inner position controller to deal with the high-order nonlinear dynamics of the hydraulic SEA. In addition, the environment parameters are also estimated online by the adaptive method. Finally, comparative simulation is conducted with different interacting environments, which verifies the advantages of the proposed method.

Suggested Citation

  • Yong Nie & Jiajia Liu & Gang Liu & Litong Lyu & Jie Li & Zheng Chen, 2022. "Force Tracking Impedance Control of Hydraulic Series Elastic Actuators Interacting with Unknown Environment," Mathematics, MDPI, vol. 10(18), pages 1-15, September.
    • Handle: RePEc:gam:jmathe:v:10:y:2022:i:18:p:3383-:d:917871
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    References listed on IDEAS

    as
    1. Lin, Tianliang & Lin, Yuanzheng & Ren, Haoling & Chen, Haibin & Li, Zhongshen & Chen, Qihuai, 2021. "A double variable control load sensing system for electric hydraulic excavator," Energy, Elsevier, vol. 223(C).
    2. Pauli Mustalahti & Jouni Mattila, 2022. "Position-Based Impedance Control Design for a Hydraulically Actuated Series Elastic Actuator," Energies, MDPI, vol. 15(7), pages 1-14, March.
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    Cited by:

    1. Wei, Yangchun & Wang, Haoping & Tian, Yang, 2024. "Shifting asymmetric time-varying BLF-based model-free hybrid force/position control for 3-DOF SEA-based manipulator with random initial error," Applied Mathematics and Computation, Elsevier, vol. 463(C).

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