Title :
Sliding modes application in pneumatic positioning
Author :
Gyeviki, Janos ; Csiszar, Attila ; Rozsahegyi, Kalman
Author_Institution :
Dept. of Tech. & Informatics, Szeged Univ., Hungary
Abstract :
This paper deals with one of the challenging problems in the field of robot control, namely how to make a pneumatic driven robot manipulator to move as fast as possible without violating the accuracy requirements. The main contribution of this paper is a design of a robust sliding mode controller implemented on a DSP system.
Keywords :
digital control; manipulators; pneumatic control equipment; position control; robust control; variable structure systems; DSP system; pneumatic driven robot manipulator; pneumatic positioning; robot control; robust sliding mode controller; Automatic control; Control systems; Digital signal processing; Engine cylinders; Nonlinear control systems; PD control; Pneumatic systems; Robots; Robust control; Sliding mode control;
Conference_Titel :
Mechatronics, 2005. ICM '05. IEEE International Conference on
Conference_Location :
Taipei
Print_ISBN :
0-7803-8998-0
DOI :
10.1109/ICMECH.2005.1529392
