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http://dx.doi.org/10.7746/jkros.2020.15.1.077

Model-Free Torque Control of Rotary Electro-Hydraulic Actuator using Mechanical Impedance Reduction  

Lee, Woongyong (POSTECH)
Chung, Wan Kyun (POSTECH)
Publication Information
The Journal of Korea Robotics Society / v.15, no.1, 2020 , pp. 77-89 More about this Journal
Abstract
This paper proposes a simple and intuitive model-free torque-tracking control for rotary electro-hydraulic actuators. The undesirable natural-velocity-feedback effect is discussed by introducing mechanical impedance into the electro-hydraulic actuation system. The proposed model-free torque control comprises inner- and outer-loop control to achieve two control objectives. Inner-loop control reduces the mechanical impedance passively and optimally. To improve the tracking accuracy, a certain form of proportional-integral-derivative control is applied to the outer loop. The robustness of the proposed closed-loop system against external disturbances is demonstrated by transforming the two-loop control structure into a disturbance observer form. The proposed method is validated on a single joint electro-hydraulic actuator.
Keywords
Torque Tracking Control; Natural Velocity Feedback Effect; Mechanical Impedance; Robust Control; Dynamic Motion Control;
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