A cascaded feedback control method for trajectory tracking of pneumatic drive systems

被引：0
|
作者：
Jun, Jinwoo [1 ]
Kanaoka, Katsuya [1 ]
Kawamura, Sadao [1 ]
机构：
[1] Ritsumeikan Univ, Dept Robot, Kusatsu, Shiga, Japan
来源：
2006 SICE-ICASE INTERNATIONAL JOINT CONFERENCE, VOLS 1-13 | 2006年
关键词：
pneumatic system; actuator dynamics; trajectory tracking; cascaded feedback control;
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：
Generally speaking, pneumatic systems have the merit of high power-to-mass ratio. However, the entire systems become high-order and non-linear due to the compressibility of air and valve dynamics. In this paper, we propose a cascaded feedback control scheme for trajectory tracking of pneumatic drive systems. We mathematically prove that the proposed scheme can effectively reduce trajectory tracking error even though nonlinear dynamics of air compressibility is considered. Through some simulation results, the trajectory tracking performance is demonstrated.
引用
收藏
页码：4179 / +
页数：2
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