A cascaded tracking control concept for pneumatic muscle actuators

2003 ◽  
Author(s):  
A. Hildebrandt ◽  
O. Sawodny ◽  
R. Neumann ◽  
A. Hartmann
Keyword(s):  
Tracking Control ◽  
Pneumatic Muscle ◽  
Control Concept ◽  
Muscle Actuators

scholarly journals Extended-State-Observer-Based Super Twisting Control for Pneumatic Muscle Actuators

Actuators ◽  
2021 ◽  
Vol 10 (2) ◽  
pp. 35
Author(s):  
Yu Cao ◽  
Zhongzheng Fu ◽  
Mengshi Zhang ◽  
Jian Huang
Keyword(s):  
Control Method ◽  
Experimental Studies ◽  
State Observer ◽  
Extended State Observer ◽  
Extended State ◽  
Pneumatic Muscle ◽  
System States ◽  
The Stability ◽  
Twisting Control ◽  
Muscle Actuators

This paper presents a tracking control method for pneumatic muscle actuators (PMAs). Considering that the PMA platform only feedbacks position, and the velocity and disturbances cannot be observed directly, we use the extended-state-observer (ESO) for simultaneously estimating the system states and disturbances by using measurable variables. Integrated with the ESO, a super twisting controller (STC) is design based on estimated states to realize the high-precision tracking. According to the Lyapunov theorem, the stability of the closed-loop system is ensured. Simulation and experimental studies are conducted, and the results show the convergence of the ESO and the effectiveness of the proposed method.

Robust Position Tracking for Electro-Hydraulic Drives Based on Generalized Feedforward Compensation Approach

2012 ◽  
Vol 233 ◽  
pp. 100-103 ◽  
Author(s):  
Lasse Schmidt ◽  
Torben O. Andersen ◽  
Henrik C. Pedersen ◽  
Michael M. Bech
Keyword(s):  
Tracking Control ◽  
Coulomb Friction ◽  
Superior Performance ◽  
Pressure Measurements ◽  
Robust Tracking ◽  
Robust Tracking Control ◽  
Supply Pressure ◽  
Control Concept ◽  
Compensation Approach ◽  
Hydraulic Valve

This paper presents the development of a robust tracking control concept based on accurate feedforward compensation of hydraulic valve-cylinder drives. The proposed feedforward gain is obtained by use of a generalized description of the valve flow that takes into account any asymmetry of valves and/or cylinders, not assuming these asymmetries to be matched, and utilizes pressure measurements. Hence the proposed compensator is generally applicable to any such drive. Simulations show that the proposed compensator poses superior performance and robustness when subjected to strong perturbations in supply pressure and coulomb friction, compared with a conventional constant gain type feedforward compensator.

Sign in / Sign up

Export Citation Format

Share Document