Hydraulic artificial muscles offer unrivaled specific power and power density and are instrumental to the improved performance and success of soft robotics and lightweight mobile applications. This paper addresses the lack of model-based impedance control approaches for soft actuators such as hydraulic artificial muscles. Impedance control of actuators and robotic systems has been proven to be an effective approach for interacting with physical objects in the presence of uncertainty. A sliding mode impedance control approach based on Filippov’s principle of equivalent dynamics is introduced and applied to a hydraulic artificial muscle. A nonlinear lumped parameter model of the system is presented and a sliding mode impedance controller is derived. Experimental results show superior performance using model-based sliding mode impedance control versus a linear impedance control law in both tracking of position and stiffness when disturbances are introduced.
- Dynamic Systems and Control Division
Sliding Mode Impedance Control of a Hydraulic Artificial Muscle
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Slightam, JE, Nagurka, ML, & Barth, EJ. "Sliding Mode Impedance Control of a Hydraulic Artificial Muscle." Proceedings of the ASME 2018 Dynamic Systems and Control Conference. Volume 1: Advances in Control Design Methods; Advances in Nonlinear Control; Advances in Robotics; Assistive and Rehabilitation Robotics; Automotive Dynamics and Emerging Powertrain Technologies; Automotive Systems; Bio Engineering Applications; Bio-Mechatronics and Physical Human Robot Interaction; Biomedical and Neural Systems; Biomedical and Neural Systems Modeling, Diagnostics, and Healthcare. Atlanta, Georgia, USA. September 30–October 3, 2018. V001T13A003. ASME. https://doi.org/10.1115/DSCC2018-9186
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