This work presents a non linear control strategy for pneumatic cylinders that uses two three way independent proportional valves to control the position of a pneumatic cylinder. The control algorithm is based on a sliding mode controller that allows efficient and robust trajectory tracking at any speed of the end-effector and a wide variance range for pay loads. The overall performance of the controller has been achieved with a minimum cost regarding sensors; in fact we only use one linear encoder feedback signal for closing the position loop. The performance of this control strategy has been tested on a experimental device.
(2002). A non-linear controller for trajectory tracking of pneumatic cylinders . Retrieved from https://hdl.handle.net/10446/241957
A non-linear controller for trajectory tracking of pneumatic cylinders
Righettini, Paolo;
2002-01-01
Abstract
This work presents a non linear control strategy for pneumatic cylinders that uses two three way independent proportional valves to control the position of a pneumatic cylinder. The control algorithm is based on a sliding mode controller that allows efficient and robust trajectory tracking at any speed of the end-effector and a wide variance range for pay loads. The overall performance of the controller has been achieved with a minimum cost regarding sensors; in fact we only use one linear encoder feedback signal for closing the position loop. The performance of this control strategy has been tested on a experimental device.| File | Dimensione del file | Formato | |
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A nonlinear controller for trajectory tracking of pneumatic cylinders _ IEEE Conference Publication _ IEEE Xplore.pdf
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