A Flatness Based Design for Tracking Control of Pneumatic Muscle Actuators

Proceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARCV 2002

Volumn , Issue , 2002, Pages 1156-1161

  Hildebrandt, A ^a   Sawodny, O ^a   Neumann, R ^b   Hartmann, A ^b  

^a ILMENAU UNIVERSITY OF TECHNOLOGY   (Germany)

^b FESTO AG AND CO KG   (Germany)

Author keywords

Industrial robot manipulators; Nonlinear control; Position control; Trajectory tracking control

Indexed keywords

ACTUATORS; CLOSED LOOP CONTROL SYSTEMS; MANIPULATORS; NONLINEAR CONTROL SYSTEMS; PNEUMATIC CONTROL; POSITION CONTROL; ROBOTICS; ROBOTS; MOTION ESTIMATION; PRODUCT DESIGN; SWITCHING; TRACKING (POSITION); TRAJECTORIES;

FLATNESS BASED DESIGN; PNEUMATIC MUSCLE ACTUATORS; TRACKING CONTROL; TRAJECTORY TRACKING CONTROL; CONTROL VALVES; SPRING ELEMENTS;

CONTROL SYSTEM ANALYSIS; INDUSTRIAL ROBOTS;

EID: 2342419500     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (10)

1. R. Neumann, M. Göttert, "Roboter mit servopneumatischen Antrieben," in Proc. 4- Deutsch-Polnisches Seminar "Innovation und Fortschritt in der Fluidtechnik", Sopot, pp. 205-223, 2001.
2. D. W. Repperger, K. R. Johnson, C. A. Philips, "Nonlinear feedback controller design of a pneumatic muscle actuator system," in Proc. 1999 American Control Conference, San Diego, pp. 1525-1529, 1999.
3. R. Q. van der Linde, "Design, analysis, and control of a low power joint for walking robots, by phasic activation of McKibben muscles," in Proc. IEEE Transactions on Robotics and Automation, Vol. 15, No. 4, pp. 599-604, 1999.
4. W. Backe, O. Ohligschlager, "A model of heat transfer in pneumatic chambers," in Journal of Fluid Control, Vol. 20, No. 1, pp. 67-78, 1989.
5. G. P. Chou, B. Hannaford, "Measurement and modeling of McKibben pneumatic artificial muscle," in Proc. IEEE Transactions on Robotics and Automation, Vol. 12, No. 1, pp. 90-102, 1996.
6. M. Fliess, J. Levine, Ph. Martin, and P. Rouchon, "Sur le systèmes non linéaires différentiellement plats," in C.R. Acad. Sci. Paris, t. 315, Série I, pp. 619-624, 1992.
7. M. Fliess, J. Levine, Ph. Martin, and P. Rouchon, "Linéarisation par bouclage dynamique et transformations de Lie-Bäcklund ," in C.R. Acad. Sci. Paris, t. 317, Série I, pp. 981-986, 1993.
8. R. Rothfuβ, J. Rudolph, and M. Zeitz, "Controlling a chemical reactor model using its flatness," in Proc. 13th IFAC World Congress, San Fransisco/USA, Vol. F, pp. 383-388, 1996.
9. A. Isidori, "Nonlinear control systems," Springer Verlag, 3rd edition, 1995.
10. J. J. E. Slotine, W. Li, "Applied nonlinear control," Prentice-Hall, Englewood Cliffs, NJ, 1991.