Incremental nonlinear control of hydraulic parallel robots: An application to the SIMONA research simulator

In advanced robotic applications such as robotic locomotion, vehicle and flight simulators, and material test devices, there are higher requirements on stiffness, robustness and power ability for the mechanical structure and the actuator. Hence, it is common for such applications to use parallel manipulators and hydraulic actuators, due to their...

Long-Stroke Hydraulic Robot Motion Control With Incremental Nonlinear Dynamic Inversion

High precision motion control of hydraulic manipulators is challenging due to the highly nonlinear dynamics and model uncertainties typical for hydraulic actuators. This paper addresses the implementation of a novel sensor-based incremental nonlinear dynamic inversion control technique for a high-precision hydraulic force controller in existence...

Incremental Nonlinear Dynamic Inversion Control for Hydraulic Hexapod Flight Simulator Motion Systems

Hydraulic driven manipulators face serious control problems due to the nonlinear system dynamics and model and parametric uncertainties of hydraulic actuators. In this paper, a novel sensor-based Incremental Nonlinear Dynamic Inversion controller is applied to force tracking control of hydraulic actuators of a hexapod flight simulator motion...