Practical Design of a Sliding Mode Controller for Pneumatic Actuators
-
Published:1997-12-01
Issue:4
Volume:119
Page:666-674
-
ISSN:0022-0434
-
Container-title:Journal of Dynamic Systems, Measurement, and Control
-
language:en
-
Short-container-title:
Author:
Pandian Shunmugham R.1, Hayakawa Yasuhiro2, Kanazawa Yoshinori1, Kamoyama Yoshiyuki1, Kawamura Sadao1
Affiliation:
1. Ritsumeikan University, Kusatsu 525 Japan 2. Department of Control Engineering, National College of Tectinology, Nara 639 Japan
Abstract
Pneumatic robot manipulators are characterized by high-order, time-variant actuator dynamics, nonlinearities due to compressibility of air, external disturbances such as static and Coulomb friction, and wide range of payload variations. Conventional PID controllers suffer from problems of gain tuning under these conditions. In this paper, a new control algorithm is proposed for the position and trajectory control of pneumatic actuators based on the sliding mode control approach. The stability of motion is proved for the case of a linear, time-invariant switching surface. A disadvantage of using sliding mode control for third- and higher-order mechanical systems is the need for acceleration feedback. In this paper, to overcome this difficulty we propose the use of differential pressure. The proposed controller is simple, easy to implement, and robust to payload and parametric variations. The effectiveness of the new scheme for position and trajectory control is illustrated by experiments on an industrial piston-driven cylindrical actuator with proportional valves.
Publisher
ASME International
Subject
Computer Science Applications,Mechanical Engineering,Instrumentation,Information Systems,Control and Systems Engineering
Reference16 articles.
1. Balestrino
A.
, De MariaG., and ZinoberA. S. I., 1984, “Nonlinear Adaptive Model-following Control,” Automatica, Vol. 20, pp. 559–568. 2. Blackburn, J. F., Reethof, G., and Shearer, J. L., 1960, Fluid Power Control, M.I.T. Press, Cambridge. 3. Caldwell
D. G.
, Medrano-CerdaG. A., and GoodwinM., 1995, “Control of Pneumatic Muscle Actuators,” IEEE Control Systems Magazine, Vol. 15, pp. 40–48. 4. DeCarlo
R. A.
, ZakS. H., and MatthewsG. P., 1988, “Variable Structure Control of Nonlinear Multivariable Systems: A Tutorial,” Proc. of the IEEE, Vol. 76, pp. 212–232. 5. Hamerlain, M., 1995, “An Anthropomorphic Robot Arm driven by Artificial Muscles using a Variable Structure Control,” Proc. 1995 IEEE Int. Conf. Robotics and Automation, Nagoya, pp. 550–555.
Cited by
49 articles.
订阅此论文施引文献
订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献
|
|