Paper Info
Title
Improved Hydraulic Cylinder Model for the Virtual Decomposition Control Approach
Abstract
This study designs improved hydraulic actuator control with an adaptive feedforward compensation for the virtual decomposition control (VDC) approach. Compared to previous VDC-based hydraulic actuator controls, the study removes the assumption that a piston cannot reach the actuator ends. This is achieved by incorporating the chamber dead volumes and the internal leakage in the actuator control with guaranteed control system stability. The proposed method is directly applicable for multiple degrees-of-freedom (n-DOF) manipulator control due to the VDC's novel concept of virtual stability, and its inherently modular control design. The advancement of the method is experimentally verified with an n-DOF manipulator.
Year
DOI
Venue
2019
10.1109/CIS-RAM47153.2019.9095788
2019 IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM)
Keywords
DocType
ISSN
virtual decomposition control,chamber dead volumes,control system stability,manipulator control,virtual stability,modular control design,hydraulic cylinder model,adaptive feedforward compensation,VDC-based hydraulic actuator controls,n-DOF manipulator
Conference
2326-8123
ISBN
Citations 
PageRank 
978-1-7281-3459-8
0
0.34
References 
Authors
3
3
Name
Order
Citations
PageRank
Santeri Lampinen102.03
janne koivumaki242.58
Jouni Mattila36920.68