Pressure observer-controller design for pneumatic cylinder actuators

Pandian, S.R.; Takemura, Fumiaki; Hayakawa, Yasuhiro; Kawamura, Sadao

doi:10.1109/tmech.2002.805624

Cited by 84 publications

(51 citation statements)

References 10 publications

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“…The results presented here highlight the important role of cylinder and servovalve friction in limiting the accuracy of force tracking by pneumatic cylinders. This result is similar to earlier findings on effect of friction on cylinder position tracking [17]. Future research will focus on the friction learning and compensation to improve the controller's performance.…”

Section: Resultssupporting

confidence: 90%

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A Sliding Mode Fuzzy Force Tracking Controller for Pneumatic Cylinders

Xu¹,

Hayakawa²,

Pandian³

2005

Proceedings of the JFPS International Symposium on Fluid Power

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The problem of control of force exerted by pneumatic cylinders on the environment is of interest in industrial automation and systems such as legged robots. In this paper, a sliding mode fuzzy force control algorithm is proposed for pneumatic cylinders. The environment is assumed to be "soft" or compliant and modeled as a spring. The advantage of the new controller is that being based on fuzzy logic, knowledge of the cylinder dynamics or disturbances such as friction is not necessary. The control law implementation is based explicitly on contact force measurements. The proposed algorithm is simple, robust, and easy to implement. Results of experimental implementation are presented to illustrate the practical effectiveness of the new method.

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Section: Resultssupporting

confidence: 90%

“…Schematic of experimental system Figure 5 shows the case of tracking a cycloid trajectory. While the trajectory tracking is accurate, there is a significant initial error due to static friction [17]. Figures 6 and 7 show the results of tracking low and high frequency sine wave reference trajectories without payload, respectively.…”

Section: Resultsmentioning

confidence: 99%

A Sliding Mode Fuzzy Force Tracking Controller for Pneumatic Cylinders

Xu¹,

Hayakawa²,

Pandian³

2005

Proceedings of the JFPS International Symposium on Fluid Power

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“…Sliding-mode control is a powerful approach to the control of nonlinear and uncertain dynamic systems [15][16][17]. A sliding surface is first defined as follows:…”

Section: Sliding-mode Controlmentioning

confidence: 99%

“…It is well known that the sliding-mode control contains the following advantages: quick response, less sensitivity to uncertainties, and easy implementation [15][16][17].…”

Section: Introductionmentioning

confidence: 99%

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Nano Trajectory Control of Multilayer Low‐voltage PZT Bender Actuator Systems

Hwang

Jan

2004

Asian Journal of Control

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In this paper, nano trajectory control of the multilayer low-voltage PZT (lead zirconate titanate) bender actuator system (MLVPZTBAS) is developed. System analyses in of the hysteresis characteristic, frequency response and sinusoidal response, were conducted to evaluate the system features. Because not all of the states of the MLVPZTBAS are directly available, an observer is required to estimate the states. The proposed scheme contains feedback linearization with a sliding-mode controller and a state observer to estimate the system states of the MLVPZTBAS. The sliding-mode control possesses an equivalent control and a switching control. To track a trajectory dominant by a specific frequency, a reference model consisting of desired amplitude and phase features is established. The equivalent control using the signals from the observer and the reference model is designed so as to produce the desired control behavior. Due to the existence of modeling and estimation errors, the switching control is then employed to achieve robust performance. Experiments on the MLVPZTBAS were carried out to verify the usefulness of the proposed control.

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Virtual angle‐based adaptive control for trajectory tracking and balancing of ball‐balancing robots without velocity measurements

Jang

Hyun

Park

2023

Adaptive Control & Signal

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This article proposes a virtual angle-based adaptive control method for trajectory tracking and balancing of ball-balancing robots without velocity measurements.The trajectory tracking and balancing control of ball-balancing robots is challenging due to underactuation and uncertain nonlinearities. The hierarchical control strategy, which designs the control system using a linear combination of trajectory tracking and balancing errors, can be a solution. However, it has a local minimum problem where the convergence of tracking and balancing errors is not guaranteed even though the linear combination error is zero. Therefore, a virtual angle-based control method is presented, which can solve the underactuation problem without the local minimum issue. In addition, a neural network-based observer is developed to estimate the velocity information of ball-balancing robots with uncertainties, and the input saturation problem is considered. It is proven that all tracking and balancing errors are bounded and can be made arbitrarily small in the Lyapunov sense. Finally, simulation results are provided to verify the effectiveness of the proposed control system.

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Pressure observer-controller design for pneumatic cylinder actuators

Cited by 84 publications

References 10 publications

A Sliding Mode Fuzzy Force Tracking Controller for Pneumatic Cylinders

A Sliding Mode Fuzzy Force Tracking Controller for Pneumatic Cylinders

Nano Trajectory Control of Multilayer Low‐voltage PZT Bender Actuator Systems

Virtual angle‐based adaptive control for trajectory tracking and balancing of ball‐balancing robots without velocity measurements

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