Title :
A predictive robust cascade position-torque control strategy for Pneumatic Artificial Muscles
Author :
Chikh, L. ; Poignet, P. ; Pierrot, F. ; Michelin, M.
Author_Institution :
Fatronik France Tecnalia, Montpellier, France
fDate :
June 30 2010-July 2 2010
Abstract :
A robust cascade strategy is proposed and tested on an electropneumatic testbed for parallel robotic applications. It is applied on Pneumatic Artificial Muscles (PAMs). Nonlinear models are developed and presented. By specifying the pressure average between the two muscles, it is possible to control the torque by controlling the pressure in each muscle. A constrained LMI based H∞ controller is synthesized for the pressure inner loop. A computed torque is applied on the torque loop and a Generalized Predictive Controller (GPC) controller is then applied to control position of the muscles. Experimental results show the feasibility of the control strategy and good performances in terms of robustness and dynamic tracking.
Keywords :
H∞ control; artificial limbs; artificial organs; cascade control; electropneumatic control equipment; linear matrix inequalities; medical robotics; muscle; nonlinear control systems; pneumatic systems; position control; predictive control; pressure control; robust control; torque control; GPC controller; PAM; constrained LMI based H∞ controller; electropneumatic testbed; generalized predictive controller; nonlinear model; parallel robotic application; pneumatic artificial muscles; position-torque control; predictive robust cascade control; pressure control; Control system synthesis; Muscles; Parallel robots; Performance evaluation; Pressure control; Robust control; Service robots; Sliding mode control; Testing; Torque control;
Conference_Titel :
American Control Conference (ACC), 2010
Conference_Location :
Baltimore, MD
Print_ISBN :
978-1-4244-7426-4
DOI :
10.1109/ACC.2010.5531276