Pressure observer-controller design for pneumatic cylinder actuators

IEEE/ASME Transactions on Mechatronics

Volumn 7, Issue 4, 2002, Pages 490-499

  Pandian, Shunmugham R ^a   Takemura, Fumiaki ^b   Hayakawa, Yasuhiro ^c   Kawamura, Sadao ^b  

^a UNIVERSITY OF MICHIGAN FLINT   (United States)

^b RITSUMEIKAN UNIVERSITY   (Japan)

^c NARA NATIONAL COLLEGE OF TECHNOLOGY   (Japan)

Author keywords

Actuators; Model based sliding mode control; Pneumatic cylinders; Pressure observers

Indexed keywords

CYLINDERS (SHAPES); ERROR ANALYSIS; FEEDBACK CONTROL; PNEUMATIC CONTROL; ROBUSTNESS (CONTROL SYSTEMS); SENSITIVITY ANALYSIS; SLIDING MODE CONTROL;

PNEUMATIC CYLINDERS;

ACTUATORS;

EID: 0036966761     PISSN: 10834435     EISSN: None     Source Type: Journal    
DOI: 10.1109/TMECH.2002.805624     Document Type: Article

References (20)

1. Y. Hayakawa, M. Tamai, S. R. Pandian, T. Isaka, and S. Kawamura, "Development of an active orthosis for standing up motion by using hexahedron rubber actuator," in Proc. Japan-France/Asia-Europe Congr. Mechatronics, Kitakyushu, Japan, 1998, pp. 67-70.
2. H. Murrenhoff, Y.-S. Hong, and A. Czinki, "Component design and control strategies for dexterous robot hands with servopneumatic finger joints," in Proc. Int. Conf. Advanced Mechatronics, Okayama, Japan, 1998, pp. 275-280.
3. P. Gorce and M. Guihard, "On dynamic control of pneumatic bipeds," J. Robot. Syst., vol. 15, pp. 421-433, 1998.
4. J. E. Bobrow and B. W. McDonell, "Modeling, identification and control of a pneumatically actuated, force controllable robot," IEEE Trans. Robot. Automat., vol. 14, pp. 732-742, Oct. 1998.
5. S. R. Pandian, Y. Hayakawa, Y. Kanazawa, Y. Kamoyama, and S. Kawamura, "Practical design of a sliding-mode controller for pneumatic actuators," ASME J., Dyn. Syst., Meas. Control, vol. 119, pp. 666-674, 1997.
6. S. R. Pandian, F. Takemura, Y. Hayakawa, and S. Kawamura, "Practical design of adaptive sliding-mode control of pneumatic actuators," Fluid Power Syst.: J. Japanese Hydraul. Pneumat. Soc., vol. 31, pp. 107-114, 2000.
7. S. R. Pandian, Y. Hayakawa, K. Ieda, Y. Kamoyama, and S. Kawamura, "Modeling and control of a pneumatic rotary actuator," in Proc. Int. Workshop Power Transmission and Motion Control, PTMC, Bath, U.K., 1998, pp. 363-377.
8. S. R. Pandian, F. Takemura, Y. Hayakawa, and S. Kawamura, "Control performance of an air motor: Can air motors replace electric motors?," in Proc. IEEE Int. Conf. Robotics and Automation, Detroit, MI, 1999, pp. 518-524.
9. S. Bourdat, E. Richard, and S. Scavarda, "A modified linear reduced observer for a pneumatic servodrive," in Proc. 4th Bath Int. Fluid Power Workshop: Fluid Power Systems Modeling and Control, Bath, U.K., 1991, pp. 357-371.
10. T. Noritsugu and M. Takaiwa, "Motion control of parallel link manipulator using disturbance observer," in Proc. Japan/U.S. Symp. Flexible Automation, Boston, MA, 1996, pp. 173-180.
11. F. Takemura, S. R. Pandian, Y. Hayakawa, and S. Kawamura, "Observer design for control of pneumatic cylinder actuators," in Proc. Bath Int. Workshop Power Transmission and Motion Control PTMC, Bath, U.K., 1999, pp. 223-236.
12. H. Nijmeijer and T. I. Fossen, New Directions in Nonlinear Observer Design, H. Nijmeijer and T. I. Fossen, Eds. London, U.K.: Springer-Verlag, 1999.
13. B. L. Walcott, M. J. Corless, and S. H. Zak, "Comparative study of nonlinear state observation techniques," Int. J. Control, vol. 45, pp. 2109-2132, 1987.
14. P. R. Belanger, Control Engineering: A Modern Approach. Fort Worth, TX: Saunders, 1995.
15. J.-J. E. Slotine, J. K. Hedrick, and E. A. Misawa, "On sliding observers for nonlinear systems," ASME J., Dyn. Syst., Meas. Control, vol. 109, pp. 245-252, 1987.
16. FI. Haskari, U. Ozguner, and V. Utkin, "On sliding-mode observers via equivalent control approach," Int. J. Control, vol. 71, pp. 1051-1067, 1998.
17. S. R. Pandian and M. Hanmandlu, "A model-based sliding mode-controller for robot manipulators," Int. J. Robot. Automat., vol. 10, pp. 29-34, 1995.
18. O. Vainio, "Adaptive derivative estimation for delay-constrained acceleration measurement," Trans. IEEE Trans. Ind. Electron., vol. 46, pp. 933-935, Oct. 1999.
19. J. Pu, C. B. Wong, and P. R. Moore, "Methods of overcoming friction effects in the control of pneumatic servo systems," in Proc. ASME Int. Mechanical Engineering Congr., San Francisco, CA, 1995, pp. 139-144.
20. H. Mizutani, F. Takemura, T. Ogata, M. Inoue, S. R. Pandian, Y. Hayakawa, and S. Kawamura, "Practical design of sliding-mode control of pneumatic robots: Verification of pressure observer and model-based control" (in Japanese), in Proc. Annu. Meet. Robotics Soc. Japan, Kusatsu, Japan, 2000, pp. 171-172.