ADAPTIVE TRACKING CONTROL OF AN AIR POWERED ROBOT ACTUATOR

被引：39

作者：

MCDONELL, BW

BOBROW, JE

机构：

[1] Department of Mechanical and Aerospace Engineering, University of California, Irvine, CA

来源：

JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME | 1993年 / 115卷 / 03期

关键词：

Adaptive control systems - Air - Algorithms - Compressibility of gases - Control nonlinearities - Control theory - Degrees of freedom (mechanics) - Pneumatic control equipment - Position control - Robot applications - Servomotors - Tracking (position);

D O I：

10.1115/1.2899119

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

An adaptive controller is presented for a One-degree-of-freedom pneumatic actuator. The control law uses full-state feedback for simultaneous parameter identification and tracking control. For position control, a pneumatic actuator with high bandwidth is difficult to obtain because of the compressibility of air and the nonlinear characteristics of air flowing through a variable area orifice. Most previous controllers for gas powered actuators were relatively limited fixed gain or on-off type controllers with low tracking accuracy. Experimental results demonstrate that tracking performance comparable to electric servomotors can be obtained using the algorithm Presented despite the nonlinearities and compressibility of air.

引用

页码：427 / 433

页数：7