Two approaches to force control by rubbertuator-driven mechanism: application of IMC and SMC

Author

Wang, X. ; Matsushita, T. ; Sagara, S. ; Katoh, R. ; Yamashita, T.

Author_Institution

Dept. of Control Eng., Kyushu Inst. of Technol., Kitakyushu City, Japan

fYear

1992

fDate

9-13 Nov 1992

Firstpage

612

Abstract

The Rubbertuator has been developed as a new kind of actuator. A pair of Rubbertuators are generally used in a joint with one degree of freedom because it can generate only a unidirectional force. An experimental system and its dynamic characteristics are described. Modeling of a Rubbertuator-driven mechanism is described first, and then two methods, internal model control (IMC) and sliding mode control (SMC), are applied to the force by the Rubbertuator-driven mechanism. It is shown that the two methods can produce good performance. They are sufficiently robust to deal with model errors, process nonlinearities, and force disturbance. They are easier to tune than proportional-integral-derivative (PID) control

Keywords

actuators; force control; variable structure systems; actuator; dynamic characteristics; force control; force disturbance; internal model control; joint; model errors; one degree of freedom; process nonlinearities; rubber tube; rubbertuator-driven mechanism; sliding mode control; unidirectional force; Cities and towns; Design engineering; Force control; Force measurement; Pressure control; Pressure measurement; Robust control; Servomechanisms; Sliding mode control; Valves;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics, Control, Instrumentation, and Automation, 1992. Power Electronics and Motion Control., Proceedings of the 1992 International Conference on

Conference_Location

San Diego, CA

Print_ISBN

0-7803-0582-5

Type

conf

DOI

10.1109/IECON.1992.254562

Filename

254562