ADAPTIVE PNEUMATIC FORCE ACTUATION AND POSITION CONTROL

被引：46

作者：

BOBROW, JE ^{[1
]}

JABBARI, F ^{[1
]}

机构：

[1] UNIV CALIF IRVINE,DEPT MECH ENGN,IRVINE,CA 92717

来源：

JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME | 1991年 / 113卷 / 02期

关键词：

D O I：

10.1115/1.2896374

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper an implementation of an adaptive control law for a pneumatic actuator is presented. Pneumatic actuators are of particular interest for robotic applications because of their large force output per unit weight, and their low cost. Stabilization of a pneumatic actuator is difficult if a high bandwidth closed-loop system is desired. This is because of the compressibility of air, and of the nonlinear characteristics of air flowing through a variable area orifices. Further complications arise from the geometry of the mechanism because the equations of motion are highly nonlinear. The order of the dominant dynamics is shown to vary with the position of the mechanism.

引用

页码：267 / 272

页数：6