6533b873fe1ef96bd12d4522

RESEARCH PRODUCT

Hybrid State Feedback Position-Force Control of Hydraulic Cylinder

Michael RudermanPhilipp Pasolli

subject

0303 health sciencesComputer science020208 electrical & electronic engineeringWork (physics)Feed forward02 engineering and technologyFilter (signal processing)03 medical and health sciencesHydraulic cylinderPosition (vector)Control theoryFull state feedback0202 electrical engineering electronic engineering information engineeringTrajectoryAffine transformation030304 developmental biology

description

A hybrid position-force control is proposed using a unified state feedback controller in combination with feedforward dead-zone compensation. Dead-zone compensator was constructed as inverse of the identified static map while the state feedback gains were obtained using a numerical optimization routine. An accurate state-space model affine in states and control, derived in a previous work, was used for closed-loop simulations and control tuning. A trigger event for automatic switching between position and force control was defined and integrated into overall control architecture alongside with a feedforward low-pass filter reducing high frequency components in the control signal. Experimental evaluations were performed for different references with automatic switching between the position trajectory following and force set value regulation.

yearjournalcountryeditionlanguage
2019-03-012019 IEEE International Conference on Mechatronics (ICM)
https://doi.org/10.1109/icmech.2019.8722829