Research Papers

Force Control Loop Affected by Bounded Uncertainties and Unbounded Inputs for Pneumatic Actuator Systems

[+] Author and Article Information
Karim Khayati1

Department of Mechanical Engineering, Royal Military College, 15 Valour Drive, PO Box 17000, Station Forces, Kingston, Ontario, K7K 7B4, Canadakarim.khayati@rmc.ca

Pascal Bigras

Department of Automated Manufacturing Engineering, École de Technologie Supérieure, University of Quebec, 1100 Notre-Dame West Street, Montreal, Quebec, H3C 1K3, Canadapascal.bigras@etsmtl.ca

Louis-A. Dessaint

Department of Electrical Engineering, École de Technologie Supérieure, University of Quebec, 1100 Notre Dame West Street, Montreal, Quebec H3C 1K3, Canadadessaint@ele.etsmtl.ca


Corresponding author.

J. Dyn. Sys., Meas., Control 130(1), 011007 (Dec 18, 2007) (9 pages) doi:10.1115/1.2807182 History: Received February 13, 2006; Revised June 04, 2007; Published December 18, 2007

The purpose of this paper is to develop an accurate closed-loop acting force technique for a pneumatic actuator, as an essential stage in the implementation of positioning control strategy. Since an analytical nonlinear structure, which linearly depends on parameter uncertainties, generically characterizes pneumatic plants, a feedback linearization design is proposed to cancel most of the resulting nonlinearities. Then, we proposed a linear state-feedback control and an additive nonlinear action to robustly bound the force error dynamics, devices which are required to handle the further parametric uncertainties and exogenous unbounded disturbances that will arise on the deduced structure. The design of the linear control gains is performed within robust closed-loop pole clustering using a linear matrix inequality approach. Finally, various experimental results illustrate the validity of the approach.

Copyright © 2008 by American Society of Mechanical Engineers
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Figure 1

Pneumatic system scheme

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Figure 2

Proposed control strategy

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Figure 3

Stability region D

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Figure 4

Photo of the experimental setup

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Figure 5

Force control performance for a sine-force reference of 75N–1Hz

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Figure 6

Force control performance for a sine-force reference 90N–0.5Hz

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Figure 7

Force control performance for a triangle-force reference

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Figure 8

Force control performance for a tooth-force reference

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Figure 9

Force error for different force references



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