Review on Modeling and Controller Design in Pneumatic Actuator Control System

Rahmat, M. F.; Sunar, Noorhazirah; Salim, Syed Najib Syed; Abidin, Mastura Shafinaz Zainal; Fauzi, Ahmad; Ismail, Zool Hilmi

doi:10.21307/ijssis-2017-460

Cited by 37 publications

(26 citation statements)

References 57 publications

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“…Theoretically, a pair of the valves are favorable to realize position, speed, and stiffness control of air cylinders or rotors. [17][18][19][20][21] The tube length between the chamber and valve should be as short as possible to minimize the pressure transfer delay and pressure loss. Nonetheless, a certain length is Downloaded by [Princeton University] at 04:36 11 August 2015 necessary to install the valves at a distant place that does not obstruct the body movement.…”

Section: Power Supply and Control Systemsmentioning

confidence: 99%

“…Although control accuracy to this degree is not sufficient for object manipulation or balance control, several gesture postures or movements can be achieved with this controller. To achieve more accurate position control in the future, we can utilize several position controllers [18][19][20] to compensate for both the hysteretic characteristics of the shaft friction force [23,24] and compressibility of supplied air (see the survey [21]). …”

Section: Accuracymentioning

confidence: 99%

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Design of 22-DOF pneumatically actuated upper body for child android ‘Affetto’

Ishihara¹,

Asada²

2015

Advanced Robotics

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Child robots have been used in a lot of studies on human-robot social/physical interaction because they are suitable for safe and casual experiments. However, providing many compliant joints and lifelike exteriors to enhance their interaction potential is difficult because of the limited space available inside their bodies. In this paper, we propose an upper body structure that consists of slider crank and parallel mechanisms for linear actuators and serial mechanisms for rotary actuators. Such combinations of several joint mechanisms efficiently utilize the body space; in total, 22 degrees of freedoms were realized in an upper body space equivalent to that of an 80cm tall child. A pneumatic drive system was adopted in order to fully verify the behavioral performance of the body mechanism. The proposed redundant and compact upper body mechanism can be a platform for testing the effectiveness of future exteriors for the little child android 'Affetto', which was developed in order to integrate several key characteristics for achieving advanced human-robot interaction.

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Section: Power Supply and Control Systemsmentioning

confidence: 99%

Section: Accuracymentioning

confidence: 99%

Design of 22-DOF pneumatically actuated upper body for child android ‘Affetto’

Ishihara¹,

Asada²

2015

Advanced Robotics

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“…For "black box model", a system model is developed without the need of physical model interpretation. Meanwhile for a "grey box model", a system model is developed by considering friction force happened between the piston pressure equations in the actuator chamber [28]. One of the system identification processes is to generate stimulus signal to excite the operating region of the system [29].…”

Section: A Theoretical Mathematical Analysismentioning

confidence: 99%

Review on Modeling and Controller Design of Hydraulic Actuator Systems

Salleh

Rahmat

Othman

et al. 2015

International Journal on Smart Sensing and Intelligent Systems

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Abstract-The purpose of this paper is to review the literature on modeling and previous control strategies of the hydraulic actuator system proposed by most of the researchers around the world.Before comes to the main discussion, some background information related to hydraulic actuator will be presented. This review includes a short summary and conclusion for hydraulic actuator system. The repercussion of this review is for future inventions of a better and robust hydraulic actuator system.

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“…In the last decades several procedures have been proposed for tracking problems with pneumatic actuators, see for example [6,7,8,9,10,11]; an overview can be found in [12]. In [6] a sliding mode controller is used to solve this problem.…”

Section: Introductionmentioning

confidence: 99%

Application of the active disturbance rejection control structure to improve the controller performance of uncertain pneumatic actuators

Almeida¹,

Álvarez

Cárdenas³

2019

Asian Journal of Control

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In many robotic applications, pneumatic actuators are not adequate for tracking control tasks given the poor performance obtained with traditional control techniques like PID controllers. In this paper we show that the so-called Active Disturbance Rejection Control Structure (ADRCS), combined with a discontinuous observer and standard or robust algorithms in the controller block, provides a good solution to regulation and tracking control problems of pneumatic actuators. The discontinuous observer estimates the velocity, and whose discontinuous nature permits to estimate also the disturbances affecting the system, allowing to use a very simple model of the actuator and avoiding an off-line parameter identification. To analyze the observer ability to estimate the disturbances, we test three different algorithms in the controller block, the standard PD and two discontinuous controllers proposed elsewhere. The performance of the closed loop system is evaluated through experimental results using a performance index based on an  2 norm, for constants and sinusoidal references. Also, we compare the performance of the proposed algorithms with the controllers with those using the same control algorithm but not including the disturbance compensation, showing the important effect of the disturbance estimation included in the ADRCS on the overall controller performance.

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Review on Modeling and Controller Design in Pneumatic Actuator Control System

Abstract: Pneumatic actuators are highly nonlinear characteristics and uncertainties make it difficult to achieve high performances. The objective of this paper is to present a brief overview of pneumatic actuators based on modeling and control strategies that has been

Cited by 37 publications

References 57 publications

Design of 22-DOF pneumatically actuated upper body for child android ‘Affetto’

Design of 22-DOF pneumatically actuated upper body for child android ‘Affetto’

Review on Modeling and Controller Design of Hydraulic Actuator Systems

Application of the active disturbance rejection control structure to improve the controller performance of uncertain pneumatic actuators

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