A robust control approach is presented in this part of the paper, which provides an effective servo control for the novel PAM actuation system presented in Part I. Control of PAM actuation systems is generally considered as a challenging topic, due primarily to the highly nonlinear nature of such system. With the introduction of new design features (variable-radius pulley and spring-return mechanism), the new PAM actuation system involves additional nonlinearities (e.g. the nonlinear relationship between the joint angle and the actuator length), which further increasing the control difficulty. To address this issue, a nonlinear model based approach is developed. The foundation of this approach is a dynamic model of the new actuation system, which covers the major nonlinear processes in the system, including the load dynamics, force generation from internal pressure, pressure dynamics, and mass flow regulation with servo valve. Based on this nonlinear model, a sliding mode control approach is developed, which provides a robust control of the joint motion in the presence of model uncertainties and disturbances. This control was implemented on an experimental setup, and the effectiveness of the controller demonstrated by sinusoidal tracking at different frequencies.
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ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control
October 31–November 2, 2011
Arlington, Virginia, USA
Conference Sponsors:
- Dynamic Systems and Control Division
ISBN:
978-0-7918-5475-4
PROCEEDINGS PAPER
Design and Control of a Compact and Flexible Pneumatic Artificial Muscle Actuation System: Part Two—Robust Control Available to Purchase
Sai-Kit Wu,
Sai-Kit Wu
The University of Alabama, Tuscaloosa, AL
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Garrett Waycaster,
Garrett Waycaster
The University of Alabama, Tuscaloosa, AL
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Tad Driver,
Tad Driver
The University of Alabama, Tuscaloosa, AL
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Xiangrong Shen
Xiangrong Shen
The University of Alabama, Tuscaloosa, AL
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Sai-Kit Wu
The University of Alabama, Tuscaloosa, AL
Garrett Waycaster
The University of Alabama, Tuscaloosa, AL
Tad Driver
The University of Alabama, Tuscaloosa, AL
Xiangrong Shen
The University of Alabama, Tuscaloosa, AL
Paper No:
DSCC2011-6068, pp. 61-67; 7 pages
Published Online:
May 5, 2012
Citation
Wu, S, Waycaster, G, Driver, T, & Shen, X. "Design and Control of a Compact and Flexible Pneumatic Artificial Muscle Actuation System: Part Two—Robust Control." Proceedings of the ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control. ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, Volume 1. Arlington, Virginia, USA. October 31–November 2, 2011. pp. 61-67. ASME. https://doi.org/10.1115/DSCC2011-6068
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