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

Yong Nie, Jiajia Liu, Gang Liu, Litong Lyu (), Jie Li () and Zheng Chen
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Yong Nie: The State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China
Jiajia Liu: Hainan Instruction of Zhejiang University, Sanya 572025, 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

Mathematics, 2022, vol. 10, issue 18, 1-15

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.

Keywords: force tracking; impedance control; electro-hydrostatic actuator; hydraulic series elastic actuators (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2022
References: View references in EconPapers View complete reference list from CitEc
Citations: View citations in EconPapers (1)

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