In this article, we investigate the model based position control of soft hydraulic actuators arranged in an antagonistic pair. A dynamical model of the system is constructed by employing the port-Hamiltonian formulation. A control algorithm is designed with an energy shaping approach which accounts for the pressure dynamics of the fluid. A nonlinear observer is included to compensate the effect of unknown external forces. Simulations demonstrate the effectiveness of the proposed approach, and experiments achieve positioning accuracy of 0.043 mm with a standard deviation of 0.033 mm in the presence of constant external forces up to 1 N.

翻译：本文研究了对置式软体液压执行器对中基于模型的位置控制问题。采用端口-哈密顿（port-Hamiltonian）公式建立了系统的动力学模型，并设计了一种考虑流体压力动力学的能量整形控制算法。同时引入非线性观测器以补偿未知外力的影响。仿真结果验证了所提方法的有效性，实验表明在高达1N的恒定外力作用下，定位精度可达0.043毫米，标准偏差为0.033毫米。