A High Performance Pneumatic Force Actuator System: Part II—Nonlinear Controller Design
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Published:1999-06-23
Issue:3
Volume:122
Page:426-434
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ISSN:0022-0434
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Container-title:Journal of Dynamic Systems, Measurement, and Control
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language:en
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Short-container-title:
Author:
Richer Edmond1, Hurmuzlu Yildirim1
Affiliation:
1. Southern Methodist University, School of Engineering and Applied Science, Mechanical Engineering Department, Dallas, TX 75275
Abstract
In this article we present two nonlinear force controllers based on the sliding mode control theory. For this purpose we use the detailed mathematical model of the pneumatic system developed in the first part of the paper. The first controller is based on the complete model, and exhibits superior performance both in the numerical simulation and experiments, but requires complex online computations for the control law. The second controller neglects the valve dynamics and the time delay due to connecting tubes. The performance of this controller exhibits slight degradation for configurations with relatively short tubes, and at frequencies up to 20 Hz. At higher frequencies or when long connecting tubes are used, however, the performance exhibits significant degradation compared to the one provided by the full order controller. [S0022-0434(00)00703-6]
Publisher
ASME International
Subject
Computer Science Applications,Mechanical Engineering,Instrumentation,Information Systems,Control and Systems Engineering
Reference11 articles.
1. Mannetje, J. J., 1981, “Pneumatic Servo Design Method Improves System Bandwidth Twenty-fold,” Control. Eng., pp. 79–83. 2. Bobrow, J. E., and Jabbari, F., 1991, “Adaptive Pneumatic Force Actuation and Position Control,” ASME J. Dyn. Syst., Meas., Control, 113, pp. 267–272. 3. Ferraresi, C., Giruado, P., and Quaglia, G., 1994, “Non-Conventional Adaptive Control Of Servopneumatic Unit For Vertical Load Positioning,” Proceedings of the 45th National Conference on Fluid Power. 4. McDonell, B. W., and Bobrow, J. E., 1993, “Adaptive Traking Control of an Air Powered Robot Actuator,” ASME J. Dyn. Syst., Meas., Control, 115, pp. 427–433. 5. Ben-Dov, D., and Salcudean, S. E., 1995, “A Force-Controlled Pneumatic Actuator,” IEEE Trans. Rob. Autom., 11, No. 6, pp. 906–911.
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