Pressure observer based servo control of pneumatic actuators

被引：0

作者：

Gulati, N ^{[1
]}

Barth, EJ ^{[1
]}

机构：

[1] Vanderbilt Univ, Dept Mech Engn, Nashville, TN 37235 USA

来源：

2005 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, VOLS 1 AND 2 | 2005年

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Pneumatic systems are highly non-linear by their nature. Despite their many advantages like reliability, compliance for interaction tasks requiring backdrivability, high power to weight ratio, the use of such systems is restricted primarily because of its high initial cost. This paper presents the development of a robust observer based controller to eliminate costly pressure sensors and therefore obtain a low cost pneumatic servo system. Experimental results are presented that demonstrate the effectiveness of this pressure observer based controller.

引用

页码：498 / 503

页数：6

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