Design of robust nonlinear force and stiffness controller for pneumatic actuators

Author

Taheri, Behzad ; Case, David ; Richer, Edmond

Author_Institution

Dept. of Mech. Eng., SMU, Dallas, TX, USA

fYear

2012

fDate

10-13 Dec. 2012

Firstpage

1192

Lastpage

1198

Abstract

This paper introduces a new backstepping-sliding mode controller designed specifically for pneumatic actuators. Based on a detailed mathematical model of the pneumatic system that included the dynamics of the valves, the algorithm was proven able to track the desired force and stiffness independently without chattering. The global Lyapunov asymptotic stability of the pressure tracking for each chamber was analyzed. Numerical simulations and validating experiments using a real-time platform were performed for a pneumatic actuator suitable for wearable robotics applications.

Keywords

Lyapunov methods; asymptotic stability; control system synthesis; elasticity; force control; mathematical analysis; nonlinear control systems; pneumatic actuators; pneumatic systems; pressure control; robots; variable structure systems; backstepping-sliding mode controller design; chamber analysis; chattering; detailed mathematical model; global Lyapunov asymptotic stability; numerical simulations; pneumatic actuators; pneumatic system; pressure tracking; real-time platform; robust nonlinear force controller design; robust nonlinear stiffness controller design; valve dynamics; wearable robotics applications; Dynamics; Force; Mathematical model; Pistons; Pneumatic actuators; Valves;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control (CDC), 2012 IEEE 51st Annual Conference on

Conference_Location

Maui, HI

ISSN

0743-1546

Print_ISBN

978-1-4673-2065-8

Electronic_ISBN

0743-1546

Type

conf

DOI

10.1109/CDC.2012.6426080

Filename

6426080