In this paper, an observability analysis for differential pneumatic pistons is presented, together with the design and implementation of linear observers of the Luenberger type. To avoid as much as possible the knowledge of the system model parameters, the generalized proportional integral (GPI) approach is employed for the estimation of unmeasured variables. Experimental results show the good performance of the proposed scheme.

References

References
1.
Ning
,
S.
, and
Bone
,
G. M.
,
2002
, “
High Steady-State Accuracy Pneumatic Servo Positioning System With PVA/PV Control and Friction Compensation
,”
IEEE International Conference on Robotics and Automation
, Washington, DC, pp.
2824
2829
.
2.
Ning
,
S.
, and
Bone
,
G. M.
,
2005
, “
Experimental Comparison of Two Pneumatic Servo Position Control Algorithms
,”
IEEE International Conference on Mechatronics and Automation
, Niagara Falls, ON, Canada.
3.
Sawodny
,
O.
, and
Hildebrandt
,
A.
,
2002
, “
Aspects of the Control of Differential Pneumatic Cylinders
,”
10th German Japanese Seminar on Problems in Dynamical Systems
, Kanazawa, Japan.
4.
Shen
,
X.
,
Zhang
,
J.
,
Barth
,
E. J.
, and
Goldfarb
,
M.
,
2006
, “
Nonlinear Model-Based Control of Pulse Width Modulated Pneumatic Servo Systems
,”
ASME J. Dyn. Syst. Meas. Control
,
128
(
3
), pp.
663
669
.10.1115/1.2232689
5.
Guenther
,
R.
,
Perondi
,
E. A.
,
DePieri
,
E. R.
, and
Valdiero
,
A. C.
,
2006
, “
Cascade Controlled Pneumatic Positioning System With LuGre Model Based Friction Compensation
,”
J. Braz. Soc. Mech. Sci. Eng.
,
28
(
1
), pp.
48
57
.10.1590/S1678-58782006000100006
6.
Zhu
,
Y.
,
2006
, “
Control of Pneumatic Systems for Free Space and Interaction Tasks With System and Environmental Uncertainties
,” Ph. D. dissertation, School of Vanderbilt University, Nashville, TN.
7.
Goettert
,
M.
, and
Neumann
,
R.
,
2007
, “
Bahnregelung Servopneumatischer Antriebe—Ein Vergleich von Linearen und Nichtlinearen Reglern
,”
Autmoatisierungs Tech.
,
2
, pp.
69
74
.
8.
Weist
,
J.
,
Arteaga Pérez
,
M. A.
,
de la Cruz
,
L. R.
, and
Hebisch
,
H.
,
2011
, “
Model Free Control for Differential Pneumatic Pistons: Experimental Comparison
,”
Int. J. Control
,
84
(
1
), pp.
138
164
.10.1080/00207179.2010.543154
9.
Bigras
,
P.
, and
Khayati
,
K.
,
2002
, “
Nonlinear Observer for Pneumatic System With Non Negligible Connection Port Restriction
,”
American Control Conference
, pp.
3191
3195
.10.1109/ACC.2002.1025281
10.
Pandian
,
S. R.
,
Takemura
,
F.
,
Hayakawa
,
Y.
, and
Kawamura
,
S.
,
2002
, “
Pressure Observer–Controller Design for Pneumatic Cylinder Actuators
,”
IEEE/ASME Trans. Mechatronics
,
7
(
4
), pp.
490
499
.10.1109/TMECH.2002.805624
11.
Wu
,
J.
,
Goldfarb
,
M.
, and
Barth
,
E.
,
2003
, “
The Role of Pressure Sensors in the Servo Control of Pneumatic Actuators
,”
American Control Conference
, Vol.
2
, pp.
1710
1714
.
12.
Wu
,
J.
,
Goldfarb
,
M.
, and
Barth
,
E.
,
2004
, “
On the Observability of Pressure in a Pneumatic Servo Actuator
,”
ASME J. Dyn. Syst. Meas. Control
,
126
(
4
), pp.
921
924
.10.1115/1.1850530
13.
Gulati
,
N.
, and
Barth
,
E. J.
,
2005
, “
Non-Linear Pressure Observer Design for Pneumatic Actuators
,” 2005
IEEE/ASME
International Conference on Advanced Intelligent Mechatronics
, Monterey, CA, July 24–28, pp.
783
788
.10.1109/AIM.2005.1511078
14.
Fliess
,
M.
,
Marquez
,
R.
,
Delaleau
,
E.
, and
Sira-Ramírez
,
H.
,
2002
, “
Correcteurs Proportionnels Intègraux Généralisés
,”
ESAIM: Control Optim. Calculus Var.
,
7
(
2
), pp.
23
41
.10.1051/cocv:2002002
15.
Sira-Ramírez
,
H.
,
Ramírez-Neria
,
M.
, and
Rodríguez-Ángeles
,
A.
,
2010
, “
On the Linear Control of Nonlinear Mechanical Systems
,” 49th
IEEE
Conference on Decision and Control
, Atlanta, GA, Dec. 15–17, pp.
1999
2004
.10.1109/CDC.2010.5717691
16.
Goettert
,
M.
, and
Neumann
,
R.
,
1999
, “
Nichtlineare Regelungskonzepte für Servopneumatische Roboter
,” Deutsch-Polnisches Seminar Inovation und Fortschritt in der Fluidtechnik, Zakopane, Poland.
17.
Sobczyk
,
M. R.
, and
Perondi
,
E. A.
,
2006
, “
Variable Structure Cascade Control of a Pneumatic Positioning System
,”
ABCM Symposium Series in Mechatronics
, Vol.
2
, pp.
27
34
.
18.
Beater
,
P.
,
2007
,
Pneumatic Drives
,
Springer-Verlag
,
Berlin
.10.1007/978-3-540-69471-7
19.
Diop
,
S.
, and
Fliess
,
M.
,
1991
, “
Nonlinear Observability, Identifiability and Persistent Trajectories
,” 36th
IEEE
Conference on Decision and Control
, Brighton, Dec. 11–13.10.1109/CDC.1991.261405
20.
Hermann
,
R.
, and
Krener
,
A. J.
,
1977
, “
Nonlinear Controllability and Observability
,”
IEEE Trans. Autom. Control
,
22
(
5
), pp.
728
740
.10.1109/TAC.1977.1101601
You do not currently have access to this content.