Abstract
Pneumatic actuators are of interest for robotic applications because of their large force output per unit weight and their low cost. 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. In this paper a controller for a one degree of freedom pneumatic system is presented which uses full-state feedback for simultaneous parameter identification and tracking control. Experimental results indicate that trajectory tracking comparable to electric motor driven robot systems can be achieved.
Keywords
- Trajectory Tracking
- Feedforward Control
- Linear Quadratic Regulator
- Pneumatic Actuator
- Adaptive Control Algorithm
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.
This research was supported by the Rockwell International Graduate Fellowship Program and by Parker-Hannifin, Parker-Bertea Aerospace Division.
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References
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© 1993 Springer-Verlag London Limited
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McDonell, B.W., Bobrow, J.E. (1993). Adaptive and fault tolerant tracking control of a pneumatic actuator. In: Chatila, R., Hirzinger, G. (eds) Experimental Robotics II. Lecture Notes in Control and Information Sciences, vol 190. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0036130
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DOI: https://doi.org/10.1007/BFb0036130
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Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-19851-2
Online ISBN: 978-3-540-39323-8
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