DocumentCode :
2062540
Title :
Robust position control of a pneumatic actuator
Author :
Zisser, Eddie ; Shapiro, Amir ; Riemer, Raziel
Author_Institution :
Dept. of Mech. Eng., Ben-Gurion Univ. of the Negev, Beer-Sheva, Israel
fYear :
2013
fDate :
17-20 Aug. 2013
Firstpage :
693
Lastpage :
698
Abstract :
This paper proposes a position control strategy for a pneumatic actuation system, which demonstrates high accuracy while it is subjected to a varying external force. We use a novel approach for the mathematical modeling of the pneumatic actuator: based on energy methods, we combine the kinetic and potential energy to derive the Lagrangian of the actuator and then the Euler-Lagrange equation of motion. The nonlinear backstepping method is applied to derive the control law, and the derivative of the potential energy is used as the controlled parameter. Results from the experiment show that tracking a sine wave of 0.1[m] magnitude produces a maximum error of ±0.008[m], while the actuator is subjected to an external force with a magnitude of 570[N] to 1150[N].
Keywords :
control nonlinearities; nonlinear control systems; pneumatic actuators; position control; robust control; Euler-Lagrange motion equation; control law; energy methods; external force; kinetic energy; mathematical modeling; nonlinear backstepping method; pneumatic actuation system; potential energy; robust position control strategy; sine wave tracking; Actuators; Equations; Force; Mathematical model; Pistons; Potential energy; Valves;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Automation Science and Engineering (CASE), 2013 IEEE International Conference on
Conference_Location :
Madison, WI
ISSN :
2161-8070
Type :
conf
DOI :
10.1109/CoASE.2013.6654003
Filename :
6654003
Link To Document :
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