A unified force controller for a proportional-injector direct-injection monopropellant-powered actuator

Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME

Volumn 128, Issue 1, 2006, Pages 159-164

  Fite, Kevin B ^a   Mitchell, Jason E ^a   Barth, Eric J ^a   Goldfarb, Michael ^a  

^a VANDERBILT UNIVERSITY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

FORCE CONTROLLER; HUMAN-SCALE MOBILE ROBOTS; MONOPROPELLANT-POWERED ACTUATOR; SATURATION-LIMITED BANDWIDTH;

COMPUTER SIMULATION; FORCE CONTROL; MATHEMATICAL MODELS; MOBILE ROBOTS; SLIDING MODE CONTROL; STABILITY;

ACTUATORS;

EID: 33646382138     PISSN: 00220434     EISSN: None     Source Type: Journal    
DOI: 10.1115/1.2168473     Document Type: Article

References (8)

1. Goldfarb, M., Barth, E. J., Gogola, M. A., and Wehrmeyer, J. A., 2003, "Design and Energetic Characterization of a Liquid-Propellant-Powered Actuator for Self-Powered Robots," Mechatronics, 8(2), pp. 254-262.
2. Shields, B., Fite, K., and Goldfarb, M., 2004, "Control of a Direct Injection Liquid Fueled Actuator," Proceedings of the ASME International Mechanical Engineering Congress and Exposition, IMECE2004-59442.
3. Hearn, H. C., 2000, "Flight Performance of a High-Impulse Monopropellant Thruster," J. Therm Anal. Calorim., 59, pp. 901-911.
4. Morrisey, D. C., 1992, "Historical Perspective. Viking Mars Lander Propulsion," J. Propul. Power, 8(2), pp. 320-331.
5. Hitt, D. L., Zakrzwski, C. M., and Thomas, M. A., 2001, "MEMS-based Satellite Micropropulsion via Catalyzed Hydrogen Peroxide Decomposition," Smart Mater. Struct., 10(6), pp. 1163-1175.
6. McGee, T. G., Raade, J. W., and Kazerooni, H., 2004, " Monopropellant-driven Free Piston Hydraulic Pump for Mobile Robotic Systems," ASME J. Dyn. Syst., Meas., Control, 126(1), pp. 75-81.
7. Barth, E. J., Gogola, M. A., and Goldfarb, M., 2003, "Modeling and Control of a Monopropellant-Based Pneumatic Actuation System," Proceedings of 2003 IEEE International Conference on Robotics and Automation, IEEE, New York, Vol. 1, pp. 628-633.
8. Khoumeri, B., Balbi, N., Leoni, E., Chiaramonti, N., and Balbi, J. H., 2000, "The Decomposition of Hydrogen Peroxide - A Non-Linear Dynamic Model," J. Therm Anal. Calorim., 59, pp. 901-911.