ICRA 2011 Paper Abstract


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 2, 2020

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


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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