Parameters Sensitivity Analysis of Position-Based Impedance Control for Bionic Legged Robots’ HDU

Ba, Kaixian; Yu, Bin; Gao, Zhengjie; Li, Wenfeng; Ma, Guoliang; Kong, Xianwen

doi:10.3390/app7101035

Cited by 19 publications

(8 citation statements)

References 16 publications

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“…All the model parameters of the electro-hydraulic position servo control system were obtained by identifying system parameters. The identification techniques include the product look, numerical derivation, experimental testing, and engineering experience [48,49,50,51]. The natural parameters of the electro-hydraulic servo valve in the model are obtained from the servo valve product book.…”

Section: Simulation and Analysismentioning

confidence: 99%

Optimized PID Controller Based on Beetle Antennae Search Algorithm for Electro-Hydraulic Position Servo Control System

Fan

Shao

Sun

2019

Sensors

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To improve the controllability of an electro-hydraulic position servo control system while simultaneously enhancing the anti-jamming ability of a PID controller, a compound PID controller that combines the beetle antennae search algorithm with PID strategy was proposed, and used to drive the position servo control system of the electro-hydraulic servo system. A BAS-PID controller was designed, and the beetle antennae search algorithm was used to tune PID parameters so that the disturbance signal of the system was effectively restrained. Initially, the basic mathematical model of the electro-hydraulic position servo control system was established through theoretical analysis. The transfer function model was obtained by identifying system parameters. Then, the PID parameter-tuning problem was converted into a class of three-dimensional parameter optimization problem, and gains of PID controllers were adjusted using the beetle antennae search algorithm. Finally, by comparing the effectiveness of different algorithms, simulation and experimental results revealed that the BAS-PID controller can greatly enhance the performance of the electro-hydraulic position servo control system and inhibit external disturbances when different interference signals are used to test the system’s robustness.

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Section: Simulation and Analysismentioning

confidence: 99%

Optimized PID Controller Based on Beetle Antennae Search Algorithm for Electro-Hydraulic Position Servo Control System

Fan

Shao

Sun

2019

Sensors

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“…The impedance control approach [124][125][126] is employed when a mechatronic device is in contact with its environment or with a human. It is an important control concept in modern robotics that is demonstrated by numerous applications [127][128][129][130][131][132][133][134][135][136][137][138][139][140]. The mechanical impedance, which features a force response of a body or a system of bodies on imposed velocity or position, can be described as a force-velocity relationship or force-position relationship.…”

Section: The Impedance Controlmentioning

confidence: 99%

The Advanced Control Approach based on SMC Design for the High-Fidelity Haptic Power Lever of a Small Hybrid Electric Aircraft

Hace

2019

Energies

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In the serial hybrid electric propulsion system of a small propeller aircraft the battery state of charge is fluctuating due to the diversity of possible power flows. Overwhelming visual information on the cockpit displays, besides requiring visual pilot attention, increases pilot workload, which is undesirable, especially in risky flight situations. Haptic interfaces, on the other hand, can provide intuitive cues that can be applied to enhance and simplify the cockpit. In this paper, we deal with an enhanced power lever stick, which can provide feedback force feel with haptic cues for enhanced information flow between the pilot and the powertrain system. We present selected haptic patterns for specific information related to the fluctuating battery state of charge. The haptic patterns were designed to reduce pilot workload, and for easy use, safe and energy-efficient control of the hybrid electric powertrain system. We focus on the advanced control design for high-performance force feedback required for rendering fine haptic signals, which stimulates the sensitive haptics of a pilot’s hand-arm system. The presented control algorithm has been designed by the sliding mode control (SMC) approach in order to provide disturbance rejection and high-fidelity haptic rendering. The proposed control design has been validated on an experimental prototype system.

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“…They propose a first-order sensitivity matrix to analyze the dynamic sensitivity of four main control parameters under four working conditions. Two sensitivity indexes are defined and verified by experiments to study the parameter sensitivity quantificationally [9].…”

Section: Quadruped Robotsmentioning

confidence: 99%

Special Feature on Bio-Inspired Robotics

2018

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Parameters Sensitivity Analysis of Position-Based Impedance Control for Bionic Legged Robots’ HDU

Cited by 19 publications

References 16 publications

Optimized PID Controller Based on Beetle Antennae Search Algorithm for Electro-Hydraulic Position Servo Control System

Optimized PID Controller Based on Beetle Antennae Search Algorithm for Electro-Hydraulic Position Servo Control System

The Advanced Control Approach based on SMC Design for the High-Fidelity Haptic Power Lever of a Small Hybrid Electric Aircraft

Special Feature on Bio-Inspired Robotics

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