Adaptive Tracking Control of an Air Powered Robot Actuator

[+] Author and Article Information
B. W. McDonell, J. E. Bobrow

Department of Mechanical and Aerospace Engineering, University of California, Irvine, Irvine, CA 92717

J. Dyn. Sys., Meas., Control 115(3), 427-433 (Sep 01, 1993) (7 pages) doi:10.1115/1.2899119 History: Received June 01, 1992; Revised December 01, 1992; Online March 17, 2008


An adaptive controller is presented for a one-degree-of-freedom pneumatic actuator. The control law uses full-state feedback for simultaneous parameter identification and tracking control. For position control, a pneumatic actuator with high bandwidth is difficult to obtain because of the compressibility of air and the nonlinear characteristics of air flowing through a variable area orifice. Most previous controllers for gas powered actuators were relatively limited fixed gain or on-off type controllers with low tracking accuracy. Experimental results demonstrate that tracking performance comparable to electric servomotors can be obtained using the algorithm presented despite the nonlinearities and compressibility of air.

Copyright © 1993 by The American Society of Mechanical Engineers
Your Session has timed out. Please sign back in to continue.






Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In