Title :
Accurate position control of PAM actuator in Lab VIEW environment
Author :
Sárosi, J. ; Gyeviki, J. ; Véha, A. ; Toman, P.
Author_Institution :
Fac. of Eng., Univ. of Szeged, Szeged, Hungary
Abstract :
As an important driver element, the pneumatic artificial muscle (PAM) is widely used in industrial applications for many automation purposes thanks to their variety of advantages. The design of a stable robust position controller for PAM is difficult since it is a very nonlinear time-variant controlled plant because of the compressibility of air, air mass flow rate through the valve, etc. The main contribution of this paper is a robust position control method based on sliding mode for a robot arm, driven by pneumatic muscle actuator. Finally, it presents experimental results.
Keywords :
humanoid robots; nonlinear control systems; pneumatic actuators; position control; robust control; time-varying systems; valves; variable structure systems; virtual instrumentation; Lab VIEW environment; PAM actuator; air mass flow rate; automation purposes; driver element; industrial applications; nonlinear time-variant controlled plant; pneumatic artificial muscle; robot arm; sliding mode; stable robust position controller; valve; Actuators; Automatic control; Automation; Muscles; Position control; Robots; Robust control; Sliding mode control; Valves; Weight control;
Conference_Titel :
Intelligent Systems and Informatics, 2009. SISY '09. 7th International Symposium on
Conference_Location :
Subotica
Print_ISBN :
978-1-4244-5348-1
Electronic_ISBN :
978-1-4244-5349-8
DOI :
10.1109/SISY.2009.5291145
