Force Control of Pneumatic Actuators Utilizing a New Pressure Estimation Technique

2011 ◽  
Author(s):  
Tad Driver ◽  
Xiangrong Shen
Keyword(s):  
Force Control ◽  
Sliding Mode ◽  
New Method ◽  
Pneumatic Cylinder ◽  
Estimation Technique ◽  
Force Output ◽  
Pneumatic Actuators ◽  
Pressure Estimation

In this paper, a new method of estimating the pressures needed to control the force output of a pneumatic cylinder is presented. A sliding mode force controller, encapsulating the dynamics of the system, is developed in order to implement and validate the pressure estimation. Experiments were conducted in order to measure the accuracy of the pressure estimation against that of the actual pressures. The results presented show that the estimated pressures accurately represent the actual pressures of the system.

Position Tracking of a Pneumatic Actuator Using Backstepping-Sliding Mode Control With Adaptive Friction Observer

2013 ◽  
Author(s):  
Ramhuzaini Abd. Rahman ◽  
Nariman Sepehri
Keyword(s):  
Adverse Effect ◽  
Sliding Mode Control ◽  
Sliding Mode ◽  
Pneumatic Cylinder ◽  
Position Tracking ◽  
Pneumatic Actuators ◽  
Mode Control ◽  
Pneumatic Servo System ◽  
Backstepping Sliding Mode Control ◽  
Friction Observer

In this paper, an enhanced sliding mode control (SMC)-based controller known as backstepping-sliding mode control (B-SMC) with an adaptive friction observer is proposed for position tracking control of pneumatic actuators. The adverse effect of friction encountered in the pneumatic actuators which play a major role in pneumatic servo system is highlighted and a solution to rectify this is proposed using an adaptive LuGre-based friction observer for friction compensation. The B-SMC is experimentally applied, for the first time, on a double-acting single-rod industrial pneumatic cylinder. Comprehensive derivation as well as stability proof of the controller is presented. The performance of B-SMC with and without the friction observer is experimentally investigated. From the results, it is clearly observed that the B-SMC with the adaptive friction observer performs better (i.e. reduces the tracking as well steady-state errors of up to 30%) than the one without friction observer. Thus, the adaptive friction observer of B-SMC is identified as the key element that improved the control performance by compensating the adverse effect of friction during the position tracking tasks.

Average Modeling and Nonlinear Observer Design For Pneumatic Actuators With On/Off Solenoid Valves

2021 ◽  
Author(s):  
Khaled Laib ◽  
Minh Tu Pham ◽  
Xuefang LIN-SHI ◽  
Redha Meghnous
Keyword(s):  
Closed Loop ◽  
Sliding Mode ◽  
High Gain ◽  
Observer Design ◽  
Nonlinear Observer ◽  
State Model ◽  
Pressure Measurements ◽  
Pneumatic Actuators ◽  
Nonlinear Observers ◽  
Piston Position

Abstract This paper presents an averaged state model and the design of nonlinear observers for an on/off pneumatic actuator. The actuator is composed of two chambers and four on/off solenoid valves. The elaborated averaged state model has the advantage of using only one continuous input instead of four binary inputs. Based on this new model, a high gain observer and a sliding mode observer are designed using the piston position and the pressure measurements in one of the chambers. Finally, their closed-loop performances are verified and compared on an experimental benchmark.

SLIDING MODE CONTACT FORCE CONTROL FOR SLIP PREVENTION IN A ROBOTIC GRIPPER

2009 ◽  
Author(s):  
M. D. O'TOOLE ◽  
K. BOUAZZA-MAROUF ◽  
D. KERR ◽  
M. VLOEBERGHS
Keyword(s):  
Contact Force ◽  
Force Control ◽  
Sliding Mode ◽  
Contact Force Control

Embedded Force Control Gripper for Frangible Fruit Robotic Manipulation

2013 ◽  
Vol 284-287 ◽  
pp. 1841-1845
Author(s):  
Shiuh Jer Huang ◽  
Wei Han Chang ◽  
Janq Yann Lin
Keyword(s):  
Force Control ◽  
Hybrid Control ◽  
Sliding Mode ◽  
Control Function ◽  
Low Cost ◽  
Banana Fruit ◽  
Embedded Control ◽  
Model Free ◽  
Position Controller ◽  
Hybrid Control System

Here a low cost embedded robotic gripper with force control function is designed for frangible fruit manipulation. This embedded control gripper is integrated with a Mitsubishi robot based on FPGA control structure. The model-free intelligent fuzzy sliding mode control strategy is employed to design the position controller of each joint and gripper force controller, respectively. Experimental results of pick-and-place frangible small tomato and banana fruit are shown by pictures to evaluate this embedded position/force hybrid control system performance.

Sliding Mode Impedance and Stiffness Control of a Pneumatic Cylinder

2019 ◽  
Author(s):  
Jonathon E. Slightam ◽  
Eric J. Barth ◽  
Mark L. Nagurka
Keyword(s):  
Motion Control ◽  
Sliding Mode ◽  
Impedance Control ◽  
Pneumatic Cylinder ◽  
Control Methods ◽  
Control Applications ◽  
Compliant Motion ◽  
Simultaneous Control ◽  
Stiffness Control ◽  
Virtual Impedance

Abstract Pneumatic double acting cylinders are able to provide inherent stiffness and force control for compliant motion control applications. Impedance control methods allow for a broad spectrum of mechanical properties of actuators to be achieved. The range of this spectrum can be increased by simultaneously controlling the actuator’s inherent stiffness and impedance, a concept explored in this paper. Presented here is a sliding mode impedance and stiffness controller for a servo-pneumatic double acting cylinder. Two proportional servo-valves are employed for simultaneous control of the virtual impedance and inherent stiffness of the pneumatic cylinder. Experimental results of tracking trajectories and contact are reported and discussed with respect to different approaches in the literature.

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