Title :
Non-linear position control of a pneumatic actuator with closed-loop stiffness and damping tuning
Author :
Abry, Frederic ; Brun, Xavier ; Sesmat, Sylvie ; Bideaux, Eric
Author_Institution :
AMPERE, Univ. de Lyon, Villeurbanne, France
Abstract :
This article proposes a new strategy for pneumatic cylinder control using an innovative control synthesis model of the system. A backstepping based control law is synthesized to take advantage of the system two degrees of freedom and a thorough tuning method of the closed-loop stiffness and damping is provided.
Keywords :
closed loop systems; control system synthesis; damping; elasticity; nonlinear control systems; pneumatic actuators; position control; backstepping based control law; closed-loop stiffness; control synthesis model; damping tuning method; nonlinear position control; pneumatic actuator; pneumatic cylinder control; Backstepping; Damping; Force; Pistons; Thermodynamics; Trajectory; Tuning;
Conference_Titel :
Control Conference (ECC), 2013 European
