Title :
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
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;
Conference_Titel :
Decision and Control (CDC), 2012 IEEE 51st Annual Conference on
Conference_Location :
Maui, HI
Print_ISBN :
978-1-4673-2065-8
Electronic_ISBN :
0743-1546
DOI :
10.1109/CDC.2012.6426080