A predictive robust cascade position-torque control strategy for Pneumatic Artificial Muscles

被引：0

作者：

Chikh, Lotfi ^{[1
]}

Poignet, Philippe ^{[2
]}

Pierrot, Francois ^{[2
]}

Michelin, Micael ^{[1
]}

机构：

[1] Fatronik France Tecnalia, Cap Omega Rond Point B Franklin, F-34960 Montpellier 2, France

[2] LIRMM, F-34392 Montpellier 5, France

来源：

2010 AMERICAN CONTROL CONFERENCE | 2010年

关键词：

MANIPULATOR;

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：

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-infinity 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.

引用

页码：6022 / 6029

页数：8