Design Of Robust Nonlinear Force And Stiffness Controller For Pneumatic Actuators

被引：0
|
作者：
Taheri, Behzad [1 ]
Case, David [1 ]
Richer, Edmond [1 ]
机构：
[1] SMU, Dept Mech Engn, Dallas, TX 75205 USA
来源：
2012 IEEE 51ST ANNUAL CONFERENCE ON DECISION AND CONTROL (CDC) | 2012年
关键词：
SYSTEM;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：1192 / 1198
页数：7
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