Feedback linearization for pneumatic actuator systems with static friction

Kimura, Tetsuya; Hara, Shinji; Fujita, Toshinori; Kagawa, Toshiharu

doi:10.1016/s0967-0661(97)00135-4

Cited by 84 publications

(34 citation statements)

References 7 publications

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“…The mathematical model of a pneumatic system is highly non-linear [8], [9], [10], and the numerical simulation is used to determine the capability of the system to perform a given task, in terms of dynamic behavior.…”

Section: The Theoretical Analysis Of the Intelligent Pneumatic Actuatormentioning

confidence: 99%

Linear pneumatic actuator

et al. 2017

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Abstract. The paper presents a linear pneumatic actuator with short working stroke. It consists of a pneumatic motor (a simple stroke cylinder or a membrane chamber), two 2/2 pneumatic distributors "all or nothing" electrically commanded for controlling the intake/outtake flow to/from the active chamber of the motor, a position transducer and a microcontroller. There is also presented the theoretical analysis (mathematical modelling and numerical simulation) accomplished.

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Section: The Theoretical Analysis Of the Intelligent Pneumatic Actuatormentioning

confidence: 99%

Linear pneumatic actuator

et al. 2017

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“…Improvements in pneumatic servo control performance have long been a goal of researchers and engineers. During recent years, many studies had been performed in this area with many algorithms applied to pneumatic systems, such as feedback linearization, self-tuning, fuzzy, and sliding mode controls (Kimura et al, 1997;Richardson et al, 2001;Schulte and Hahn, 2004;Girin et al, 2009). Based on the back-stepping method, the adaptive robust controller has attracted researchers' attention for its resistance to parameter uncertainties and nonlinear characteristics (Yao and Tomizuka, 1997;Smaoui et al, 2006).…”

Section: Introductionmentioning

confidence: 99%

Posture control of a 3-RPS pneumatic parallel platform with parameter initialization and an adaptive robust method

Tao

Shang

Meng

et al. 2017

J. Zhejiang Univ. - Sci. C

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A control algorithm for a 3-RPS parallel platform driven by pneumatic cylinders is discussed. All cylinders are controlled by proportional directional valves while the kinematic and dynamic properties of the system are modeled. The method of adaptive robust control is applied to the controller using a back-stepping approach and online parameter estimation. To compensate for the uncertainty and the influence caused by estimations, a fast dynamic compensator is integrated in the controller design. To prevent any influence caused by the load applied to the moving platform changing in a practical working situation, the identification of parameters is taken as the initialization of unknown parameters in the controller, which can improve the adaptability of the algorithm. Using these methods, the response rate of the parameter estimation and control performance were improved significantly. The adverse effects of load and restriction forces were eliminated by the initialization and online estimation. Experiments under different situations illustrated the effectiveness of the adaptive robust controller with parameter initialization, approaching average tracking errors of less than 1%.

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“…PAMs are easily replaceable and can be directly connected to the structure they power without gears and this is beneficial from a control viewpoint as they do not introduce backlash and extra inertia. However inherent pneumatic compliance adversely affects the positional accuracy of the system in position control servos and requires more sophisticated non-linear algorithms such as adaptive control [12] or feedback linearisation techniques [13]. A very serious drawback of PAM is that pneumatic compliance limits the actuation performance in terms of bandwidth [14] and the energy cost to produce the compressed air is much higher compared to compressing a liquid.…”

Section: Introductionmentioning

confidence: 99%

Water/air performance analysis of a fluidic muscle

Focchi

Semini

Parmiggiani

et al. 2010

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

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This paper deals with a comparative study on using water and air as actuation means for the control of a fluidic muscle (designed for air) and assesses the performance, particularly from a dynamic and energetic point of view. A medium with higher bulk modulus such as oil/water is believed to increase pressure and force bandwidths and reduce sensitivity to load variations, as is the case with conventional hydraulic stiff actuation systems. However in this application the inherent flexibility of the muscle plays a major role. Water has been chosen because of its non-flammability, environmental friendliness and the low solubility of air in it. The operating pressure range of the pneumatic muscle is 0-6 bar (typical range of a pneumatic system) that is well below typical operating pressures of hydraulic systems (typically over 100 bar). At such low pressures the dynamic behaviour of water is less predictable because of the higher likelihood of entrapped air in the water which physically occurs when operating at low pressures. This can majorly affect water bulk modulus and hence its dynamic performance. Therefore, the behaviour of the system in this unconventional pressure range for a liquid must be more thoroughly investigated. Theoretical and experimental analyses on a dedicated test rig have been carried out to assess these assumptions.

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Feedback linearization for pneumatic actuator systems with static friction

Cited by 84 publications

References 7 publications

Linear pneumatic actuator

Linear pneumatic actuator

Posture control of a 3-RPS pneumatic parallel platform with parameter initialization and an adaptive robust method

Water/air performance analysis of a fluidic muscle

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