A predictive robust cascade position-torque control strategy for Pneumatic Artificial Muscles

A robust cascade strategy is proposed and tested on an electropneumatic testbed for parallel robotic applications. It is applied on Pneumatic Artificial Muscles (PAMs). Nonlinear models are developed and presented. By specifying the pressure average between the two muscles, it is possible to control...

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Bibliographic Details
Published inProceedings of the 2010 American Control Conference pp. 6022 - 6029
Main Authors Chikh, L, Poignet, P, Pierrot, F, Michelin, M
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.06.2010
Subjects
Control system synthesis
Muscles
Parallel robots
Performance evaluation
Pressure control
Robust control
Service robots
Sliding mode control
Testing
Torque control
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Summary:A robust cascade strategy is proposed and tested on an electropneumatic testbed for parallel robotic applications. It is applied on Pneumatic Artificial Muscles (PAMs). Nonlinear models are developed and presented. By specifying the pressure average between the two muscles, it is possible to control the torque by controlling the pressure in each muscle. A constrained LMI based H ∞ controller is synthesized for the pressure inner loop. A computed torque is applied on the torque loop and a Generalized Predictive Controller (GPC) controller is then applied to control position of the muscles. Experimental results show the feasibility of the control strategy and good performances in terms of robustness and dynamic tracking.
ISBN:9781424474264
1424474264
ISSN:0743-1619
2378-5861
DOI:10.1109/ACC.2010.5531276