Simultaneous trajectory tracking control of position and force with pneumatic cylinder driving apparatus

被引：0
|
作者：
Ji-Seong Jang
机构：
[1] Pukyong National University,Division of Mechanical Engineering
来源：
Journal of Mechanical Science and Technology | 2005年 / 19卷
关键词：
Compressibility; Low Stiffness; Pneumatic Cylinder; Position and Force Trajectory Tracking;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
In this study, a position and force simultaneous trajectory tracking control algorithm is proposed for a driving apparatus that consists of two pneumatic cylinders connected in series. The controller applied to the driving apparatus is composed of a non-interaction controller to compensate for interaction between cylinders and a disturbance observer aimed to reduce the effect of model discrepancy that cannot be compensated by the non-interaction controller. The effectiveness of the proposed control algorithm is proved by experimental results.
引用
收藏
页码：1107 / 1115
页数：8
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