Title :
Robust positioning control of pneumatic servo system with pressure control loop
Author :
Noritsugu, T. ; Takaiwa, M.
Author_Institution :
Okayama Univ., Japan
Abstract :
The goal of this paper is to attain a robust positioning control of a pneumatic driving system. A positioning control system positively focusing on the pressure control is investigated from the view that the pressure control is indispensable for improvement of control performances. A disturbance observer is employed to improve the pressure response and compensate the influence of friction force and parameter change. Consequently the improvements of robustness against payload and of positioning accuracy have been attained
Keywords :
actuators; friction; observers; pneumatic control equipment; position control; pressure control; robust control; servomechanisms; disturbance observer; friction force compensation; parameter change compensation; pneumatic servo system; positioning accuracy; pressure control loop; pressure response; robust positioning control; Atmospheric modeling; Automatic control; Control systems; Force control; Friction; Pressure control; Proportional control; Robust control; Servomechanisms; Valves;
Conference_Titel :
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location :
Nagoya
Print_ISBN :
0-7803-1965-6
DOI :
10.1109/ROBOT.1995.525651
