A Novel Control Strategy for Hydraulic Stewart Master-Slave System

A novel control strategy is proposed for the hydraulic Stewart master-slave system. In the strategy, the force-reflecting control framework in which the force signal from both master and slave is used to generate the desired trajectory, and the master track the movement of the slave's is adopted. A Lee low-pass filter is added at the trajectory generator to avoid disturbance of high-frequency force signal on the desired trajectory. A disturbance observer (DOB) controller is used at the slave to ensure accurate tracking. Experiments were carried out on the HIL system with the slave as the grinding mechanism. The experimental results prove that the filter in the new control strategy can effectively eliminate the disturbance and the controller with DOB of the slave can effectively track the trajectory.