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Impedance control of electro hydraulic servo system using input output linearization
- Issue Date
- Dec-2011
- Publisher
- IEEE
- Keywords
- hydraulic actuator; Impedance control
- Citation
- International Conference on Control, Automation and Systems, pp.1373 - 1376
- Indexed
- SCOPUS
- Journal Title
- International Conference on Control, Automation and Systems
- Start Page
- 1373
- End Page
- 1376
- ISSN
- 2093-7121
- Abstract
- 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.
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