Position Tracking Control of a Miniature Water Hydraulic Rotary Actuator

Over the past 20 years, research in the field of miniature actuators has increased substantially due to advances in smart material fabrication, semiconductor chip technology, and computer processing capability. Hydraulic cylinders offer many potential benefits as miniature actuators, including high power-to-weight ratio, mechanical stiffness, smooth motion, and the potential for high positional accuracy. Despite their benefits, the control of …