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：本文研究了以拮抗对形式排列的软体液压驱动器的基于模型的位置控制。通过采用端口-哈密尔顿公式构建了系统的动力学模型。设计了一种控制算法，采用能量整形方法，并考虑了流体的压力动力学。引入了非线性观测器以补偿未知外力的影响。仿真验证了所提方法的有效性，实验中在高达1 N的恒定外力作用下，定位精度达到0.043 mm，标准差为0.033 mm。