Thermodynamic analysis of a mechatronic pneumatically driven spherical joint

Paynter, H. M.; Juarez, Joseph

doi:10.1109/3516.847088

Cited by 2 publications

(2 citation statements)

References 9 publications

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“…Paynter et al modeled PAMs, called tuggers, by describing their change in enthalpy. Paynter used experimental correlations to implement open-loop position control [9], [10]. This approach was used for applications including vehicle suspension and engine mount vibration dampening [11].…”

Section: Control Approaches For Pamsmentioning

confidence: 99%

Robust Control Law for Pneumatic Artificial Muscles

Slightam

Nagurka

2017

ASME/BATH 2017 Symposium on Fluid Power and Motion Control

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This paper presents a modified integral sliding surface, sliding mode control law for pneumatic artificial muscles. The cutoff frequency tuning parameter λ is squared to increase the gradient from absement (integral of position) to position and higher derivatives to reflect the more dominant terms in the actuator dynamics. The sliding mode controller is coupled with proportional and integral action compensation. The control system is sufficiently robust so that use of an observer and input-output feedback linearization are not required. Closed-loop control experiments are compared with traditional sliding mode controller designs presented in the literature for pneumatic artificial muscles. Experiments include the tracking of sinusoidal waves at 0.5 and 1 Hz, tracking of square-like waves with seventh-order trajectory transitions at a rate of 0.2 Hz without and with a steady-state period of 10 seconds, as well as a step input response. These experiments indicate that the control law provides similar bandwidth, tracking, and steady-state performance as approaches requiring nonlinear feedback and model observation for pneumatic artificial muscles. Experiments demonstrate an accuracy of 50 μm at steady-state with no overshoot and maximum tracking errors less than 0.4 mm for smooth square-like trajectories.

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Section: Control Approaches For Pamsmentioning

confidence: 99%

Robust Control Law for Pneumatic Artificial Muscles

Slightam

Nagurka

2017

ASME/BATH 2017 Symposium on Fluid Power and Motion Control

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“…PFPAs were modeled by describing the change in enthalpy in the control volume [5], [2]. Using this approach Henry Paynter demonstrated accurate open-loop control with experimentally determined parameters [6].…”

Section: Introductionmentioning

confidence: 99%

PID Sliding Mode Control of Prolate Flexible Pneumatic Actuators

Slightam

Nagurka

2016

Volume 1: Advances in Control Design Methods, Nonlinear and Optimal Control, Robotics, and Wind Energy Systems; Aerospace Appli

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The inherent compliance, high power-density, and musclelike properties of soft actuators are especially attractive and useful in many applications, including robotics. In comparison to classical/modern control approaches, model-based control techniques, e.g., sliding mode control (SMC), applied to flexible fluidic actuators (FFAs) offer significant performance advantages and are considered to be state-of-the-art. Improvements in position tracking are possible using nonlinear control approaches that offer enhanced performance for common applications such as tracking of sinusoidal trajectories at high frequencies. This paper introduces a SMC approach that increases the tracking capabilities of prolate flexible pneumatic actuators (PF-PAs). A model-based proportional, integral, derivative sliding mode control (PIDSMC) approach designed for position control of PFPAs is proposed. SMC and PIDSMC systems are implemented on low-cost open-source controls hardware and tested for tracking sinusoidal trajectories at frequencies of 0.5 Hz and 1.0 Hz with an amplitude of 8.255 mm and an offset of 12.7 mm. The PIDSMC approach reduced the maximum tracking error by 20.0%, mean error by 18.6%, and root-mean-square error by 10.5% for a 1 Hz sinusoidal trajectory and by 8.7%, 14.7%, and 3.8%, respectively, for a 0.5 Hz sinusoidal trajectory. These reductions in tracking errors demonstrate performance advantages of the PIDSMC over conventional sliding mode position controllers.

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Thermodynamic analysis of a mechatronic pneumatically driven spherical joint

Cited by 2 publications

References 9 publications

Robust Control Law for Pneumatic Artificial Muscles

Robust Control Law for Pneumatic Artificial Muscles

PID Sliding Mode Control of Prolate Flexible Pneumatic Actuators

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