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초록
In this paper, we present an impedance control method for electro hydraulic servo systems (EHSSs). The definition of impedance is a transfer function from external force to velocity error. By the proposed method, the transfer function from external force to velocity error becomes the desired transfer function. And we calculate the steady-state position and velocity error. Simulation results validate the effectiveness of proposed method and the steady-state position and velocity error.
키워드
hydraulic actuator; Impedance control; Electro hydraulic servo system; External force; Hydraulic actuator; Impedance control; Impedance control methods; Input output linearization; Velocity errors; Hydraulic servomechanisms; Velocity; Transfer functions
- 제목
- Impedance control of electro hydraulic servo system using input output linearization
- 저자
- Shin, Donghoon; Kim, Wonhee; Lee, Youngwoo; Won, Daehee; Chung, Chung Choo
- 발행일
- 2011-12
- 유형
- Conference Paper
- 저널명
- International Conference on Control, Automation and Systems
- 페이지
- 1373 ~ 1376