2012
DOI: 10.1016/j.mechatronics.2011.10.007
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Improved tracking and switching performance of an electro-pneumatic positioning system

Abstract: For robotic systems that use on/off (solenoid) pneumatic actuators, a sliding mode control law for precise position control and low switching (open-close) activity of the valves is presented in this paper. Given a pneumatic actuator with two chambers and four solenoid valves, there are sixteen possible input combinations defined directly from the state of the four on/off valves present in the system; however, only seven of these discrete operating modes are considered both functional and unique. Therefore, we … Show more

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Cited by 52 publications
(58 citation statements)
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“…The modelling of a pneumatic actuator with its chamber and four solenoid valves is visible in [12]. It is possible to write the dynamics of the open-loop pneumatic actuator in a discrete input form, assuming that the temperature variation in chambers is negligible with respect to the supply temperature (thus T P = T N = T ):…”
Section: Discrete-input Model Of the Open-loop Actuatormentioning
confidence: 99%
See 2 more Smart Citations
“…The modelling of a pneumatic actuator with its chamber and four solenoid valves is visible in [12]. It is possible to write the dynamics of the open-loop pneumatic actuator in a discrete input form, assuming that the temperature variation in chambers is negligible with respect to the supply temperature (thus T P = T N = T ):…”
Section: Discrete-input Model Of the Open-loop Actuatormentioning
confidence: 99%
“…Also, b 8 and b 9 are approximately equal to 0 and can be positive or negative. As in [12], we will focus on the modes…”
Section: Discrete-input Model Of the Open-loop Actuatormentioning
confidence: 99%
See 1 more Smart Citation
“…The pneumatic lifting system takes the compressed air as the power source, through the cylinder and other actuators to overcome the gravity to increase the load [1][2][3]. Compared with cranes, hoists, electric hoists and other lifting appliances, pneumatic hoisting system not only can load or promot, but also achieve stepless speed regulation with environmentally friendly, safe and reliable.…”
Section: Introductionmentioning
confidence: 99%
“…However, pneumatic systems suffer from several drawbacks, such as 1nonlinear friction force and highly nonlinear pneumatic system dynamics. 1 The nonlinearities in the pneumatic system are mainly the couplings between the pressure and the motion, the flow rate, and the friction force. 2 Moreover, for a longstroke pneumatic rodless cylinder, higher nonlinear dynamics due to a large operation range may occur; thus, it is difficult to design an effective controller.…”
Section: Introductionmentioning
confidence: 99%