Details
| Originalsprache | Englisch |
|---|---|
| Titel des Sammelwerks | 2018 23rd International Conference on Methods Models in Automation Robotics (MMAR) |
| Seiten | 286-291 |
| Seitenumfang | 6 |
| ISBN (elektronisch) | 978-1-5386-4325-9, 978-1-5386-4324-2 |
| Publikationsstatus | Veröffentlicht - 8 Okt. 2018 |
| Extern publiziert | Ja |
Abstract
A pressure servo controller for pneumatic muscle actuators (PMAs) is presented and tested in three test scenarios. Unlike most previous non-linear control approaches, the current contribution demonstrated that a linear controller design becomes feasible after a slight reformulation of the non-linear plant dynamics. The controller is designed by pole placement in the discrete-time domain. It is demonstrated experimentally that the controller solves the control task and compensates pneumatic cross-coupling effects between different PMAs connected to a shared kinematic structure with an additional disturbance cancellation. When the initial PMA volume is kept constant, a closed-loop cutoff frequency of about 6 Hz is achieved. Beyond that, a sine pressure trajectory with 1 Hz is tracked successfully at time-varying volume, and the pressure changes triggered by volume changes are significantly reduced. The controller is easy to implement and therefore suitable to run on low-cost embedded hardware.
ASJC Scopus Sachgebiete
- Informatik (insg.)
- Artificial intelligence
- Ingenieurwesen (insg.)
- Maschinenbau
- Mathematik (insg.)
- Steuerung und Optimierung
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2018 23rd International Conference on Methods Models in Automation Robotics (MMAR). 2018. S. 286-291 8486045.
Publikation: Beitrag in Buch/Bericht/Sammelwerk/Konferenzband › Aufsatz in Konferenzband › Forschung › Peer-Review
}
TY - GEN
T1 - A decoupling servo pressure controller for pneumatic muscle actuators
AU - Martens, Mirco
AU - Seel, Thomas
AU - Boblan, Ivo
N1 - Publisher Copyright: © 2018 IEEE.
PY - 2018/10/8
Y1 - 2018/10/8
N2 - A pressure servo controller for pneumatic muscle actuators (PMAs) is presented and tested in three test scenarios. Unlike most previous non-linear control approaches, the current contribution demonstrated that a linear controller design becomes feasible after a slight reformulation of the non-linear plant dynamics. The controller is designed by pole placement in the discrete-time domain. It is demonstrated experimentally that the controller solves the control task and compensates pneumatic cross-coupling effects between different PMAs connected to a shared kinematic structure with an additional disturbance cancellation. When the initial PMA volume is kept constant, a closed-loop cutoff frequency of about 6 Hz is achieved. Beyond that, a sine pressure trajectory with 1 Hz is tracked successfully at time-varying volume, and the pressure changes triggered by volume changes are significantly reduced. The controller is easy to implement and therefore suitable to run on low-cost embedded hardware.
AB - A pressure servo controller for pneumatic muscle actuators (PMAs) is presented and tested in three test scenarios. Unlike most previous non-linear control approaches, the current contribution demonstrated that a linear controller design becomes feasible after a slight reformulation of the non-linear plant dynamics. The controller is designed by pole placement in the discrete-time domain. It is demonstrated experimentally that the controller solves the control task and compensates pneumatic cross-coupling effects between different PMAs connected to a shared kinematic structure with an additional disturbance cancellation. When the initial PMA volume is kept constant, a closed-loop cutoff frequency of about 6 Hz is achieved. Beyond that, a sine pressure trajectory with 1 Hz is tracked successfully at time-varying volume, and the pressure changes triggered by volume changes are significantly reduced. The controller is easy to implement and therefore suitable to run on low-cost embedded hardware.
KW - Neumatic artificial muscles
KW - Pneumatic muscle actuators
KW - Pneumatic robots
KW - Pressure control
UR - http://www.scopus.com/inward/record.url?scp=85056471579&partnerID=8YFLogxK
U2 - 10.1109/mmar.2018.8486045
DO - 10.1109/mmar.2018.8486045
M3 - Conference contribution
SN - 978-1-5386-4326-6
SP - 286
EP - 291
BT - 2018 23rd International Conference on Methods Models in Automation Robotics (MMAR)
ER -