Rotary vane actuators as rotational drives provide rotational movements directly because they are constructed as a joint and actuator in one. So it is possible to pass on the disadvantageous transmission kinematics used with the so far usual differential cylinders at the arms of large manipulators. However, the use of hydraulic rotary vane actuators is associated with high internal oil leakage and/or high friction. Therefore, a nonlinear dynamic model for such an actuator, driving a rigid robot arm, as well as its nonlinear control are derived. To achieve tracking control a model based control law is set up using fundamental linear differential equations for the tracking error. The control law is implemented and tested on a testbed, the produced experimental results are presented. The same control algorithm can also be used to realize nonlinear disturbance attenuation for hydraulic rotary vane actuators via tracking control.

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