Design of Impedance Control and Position Tracking Control for Nonlinear Hydraulic Arms

This paper discusses desired disturbance response model + desired reference response model for simultaneously satisfying an impedance control and a position orientation tracking control for nonlinear hydraulic arms. First, we review hydraulic cylinder dynamics with nonlinear pressure dynamics. Second, through the reviewed hydraulic cylinder dynamics and an existing controller design procedure, we discuss two desired models for achieving an impedance control and a position orientation tracking control simultaneously. Finally, the effectiveness of the proposed desired models is confirmed by a preliminary indoor experiment including a simulated open channel.