Inverse dynamics control for series damper actuator based on MR fluid damper

In this paper, inverse dynamics control is investigated to actively control the magneto rheological (MR) fluid damper in series damper actuator (SDA), a new type of force control actuator. A modified Bingham model is proposed and proved by comparing with two popular MR fluid models, Bingham model and Bouc-Wen model, in terms of model accuracy and model invertibility. Inverse dynamics control scheme is developed for MR damper based SDA system and experimental results are also presented to show that high force fidelity is achieved