ICRA 2011 Paper Abstract

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Paper TuA105.5

Opdenbosch, Patrick (Georgia Institute of Technology), Sadegh, Nader (Georgia Institute of Technology), Book, Wayne (Georgia Institute of Technology), Enes, Aaron (Georgia Institute of Technology)

Auto-Calibration Based Control for Independent Metering of Hydraulic Actuators

Scheduled for presentation during the Regular Sessions "Advanced Robot Control" (TuA105), Tuesday, May 10, 2011, 09:20−09:35, Room 3G

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on April 21, 2019

Keywords Hydraulic/Pneumatic Actuators, Learning and Adaptive Systems, Motion Control of Manipulators

Abstract

This paper describes a novel auto-calibration state-trajectory-based method and its application to electronic flow control for independent metering systems. In this paper, the independent metering architecture that is considered uses five Electro-Hydraulic Poppet Valves (EHPV's). The proposed control method is applied to four of these valves, arranged in a Wheatstone bridge configuration, to regulate the flow of hydraulic oil coming into and out of an actuator. For simplicity, the fifth valve is operated via open-loop to control the supply pressure. Experimental data presented herein demonstrate that the control method learns the valve's conductance characteristics (i.e. the inverse input-state dynamic map of the valve) while simultaneously controlling the motion of the hydraulic actuator.

 

 

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