Research on the hydraulic actuator control of the quadruped robot based dual-loop

摘要：

This paper presents modeling and dual-loop control of a non-linear hydraulic actuator applied on the quadruped robot. The pure position control of the actuator is hard to achieve because its a threeorder system. So we propose the dual-loop control method to decompose it. The controller structure of the system is composed of two loops namely outer position control loop and inner force control loop. Outer loop controller is used to calculate the optimum target force to reject the errors of the position control, while, the inner loop controller is used to keep the actual force close to this desired force.

关键词： dual-loop inner force loop quadruped robot hydraulic actuator simulation experiment

作者: Yang Enchao Wei Qing Cai Runbin Ma Hongxu

作者单位: School of Mechatronics Engineering and Automation National University of Defense Technology, Changsha 410073, China

会议类型: 国际会议

会议名称: 2012 International Conference on Advanced Materials Design and Machanics(2012先进材料设计与机械学国际会议 ICAMDM 2012)

会议地点: 厦门

会议语种:英文

页码: 533-538

在线出版日期: 2012-06-05（万方平台首次上网日期，不代表论文的发表时间）