Impedance control of electro hydraulic servo system using input output linearization

In this paper, we present an impedance control method for electro hydraulic servo systems (EHSSs). The definition of impedance is a transfer function from external force to velocity error. By the proposed method, the transfer function from external force to velocity error becomes the desired transfer function. And we calculate the steady-state position and velocity error. Simulation results validate the effectiveness of proposed method and the steady-state position and velocity error.

[1]  Guangjun Liu,et al.  Robust hybrid impedance control of robot manipulators via a tracking control method , 1994, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94).

[2]  Tanes Tanitteerapan,et al.  An efficiency improvement boost converter circuit for photovoltaic power system with maximum power point tracking , 2011, 2011 11th International Conference on Control, Automation and Systems.

[3]  J. Heintze,et al.  Inner-loop design and analysis for hydraulic actuators, with an application to impedance control , 1994 .

[4]  Neville Hogan,et al.  Impedance Control: An Approach to Manipulation , 1984, 1984 American Control Conference.

[5]  Hyoung-Gwan Kim,et al.  Findings of suspected items by a commercial-grade item dedication program in nuclear power plants , 2011, 2011 11th International Conference on Control, Automation and Systems.

[6]  Nariman Sepehri,et al.  Position-based impedance control of an industrial hydraulic manipulator , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[7]  Mark W. Spong,et al.  Hybrid impedance control of robotic manipulators , 1987, Proceedings. 1987 IEEE International Conference on Robotics and Automation.