A predictive robust cascade position-torque control strategy for Pneumatic Artificial Muscles

Lotfi Chikh (1, 2) , Philippe Poignet (1) , François Pierrot (3) , Micaël Michelin (2)

1 LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
2 Fatronik France
3 DEXTER - Robotique médicale et mécanismes parallèles

Is it possible to synthesize an easy-to-implement predictive force controller for electropneumatic cylinders? In this paper, this problem is treated in details. As an electropneumatic cylinder is a highly nonlinear actuator, our strategy is based on the precise nonlinear modeling of the actuator and the application of a feedback linearization strategy. This enables to have an equivalent linearized model and therefore, to find an explicit solution of the predictive optimization problem. The obtained controller is then an easy-to-implement one and the number of control parameters is very reduced: the weighting coefficient and the prediction horizon. Experimental results prove the availability of this control approach and good performances in terms of capacity of tracking long duration static forces of high amplitudes

Mots clés: Pneumatic muscles; GPC; cascade control; LMI; H-infinity

Domaines: Automatique / Robotique

Lotfi Chikh, Philippe Poignet, François Pierrot, Micaël Michelin. A predictive robust cascade position-torque control strategy for Pneumatic Artificial Muscles. 2010 American Control Conference Marriott Waterfront, Baltimore, MD, USA June 30-July 02, 2010, Jun 2010, Baltimore, United States. pp.6022-6029. ⟨hal-00466781⟩