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TECHNICAL BRIEFS

A Unified Force Controller for a Proportional-Injector Direct-Injection Monopropellant-Powered Actuator

[+] Author and Article Information
Kevin B. Fite, Jason E. Mitchell, Eric J. Barth, Michael Goldfarb

Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37235

J. Dyn. Sys., Meas., Control 128(1), 159-164 (Nov 14, 2005) (6 pages) doi:10.1115/1.2168473 History: Received February 03, 2005; Revised November 14, 2005

This paper describes the modeling and control of a proportional-injector direct-injection monopropellant-powered actuator for use in power-autonomous human-scale mobile robots. The development and use of proportional (as opposed to solenoid) injection valves enables a continuous and unified input/output description of the device, and therefore enables the development and implementation of a sliding-mode-type controller for the force control of the proposed actuator, which provides the stability guarantees characteristic of a sliding-mode control approach. Specifically, a three-input, single-output model of the actuation system behavior is developed, which takes a nonlinear non-control-canonical form. In order to implement a nonlinear controller, a constraint structure is developed that effectively renders the system single input, single output, and control canonical, and, thus, of appropriate form for the implementation of a sliding-mode controller. A sliding-mode controller is then developed and experimentally implemented on the proposed actuator. Experimental results demonstrate closed-loop force tracking with a saturation-limited bandwidth of approximately 6Hz.

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Copyright © 2006 by American Society of Mechanical Engineers
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Figures

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Figure 1

Schematic of the proportional-injector direct-injection (PIDI) monopropellant-powered actuation system

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Figure 2

PIDI actuator integrated with a single-DOF robot arm

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Figure 3

Modeling schematic of the PIDI actuator

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Figure 4

Sinusoidal force tracking of the PIDI monopropellant-powered actuator, at a frequency of 1Hz, and corresponding valve commands

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Figure 5

Sinusoidal force tracking of the PIDI monopropellant-powered actuator, at a frequency of 4Hz, and corresponding valve commands

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Figure 6

Sinusoidal force tracking of the PIDI monopropellant-powered actuator, at a frequency of 6Hz, and corresponding valve commands

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