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Communication Dans Un Congrès Année : 2011

Sliding-Mode Control of Nonlinear Discrete-Input Pneumatic Actuators

Minh-Quyen Le
Minh Tu Pham
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Résumé

This paper proposes a sliding mode law for precise position control with minimal switching activity for a robotic system that uses on/off (solenoid) pneumatic actuators. For a two-chamber pneumatic actuator with four binary solenoid valves, there is a total of sixteen possible input combinations defined directly from the state of the four on/off solenoid valves present in the system. However, only seven of these discrete operating modes are considered both functional and unique. Accordingly, we use a seven-mode sliding controller that minimizes the position error using modes that have both the necessary and sufficient amounts of drive energy and, thus, involve reduced switching activity. An analysis of the closed- loop system stability is carried out. The performance of the proposed control design is experimentally verified on a single pneumatic actuator comprising of two chambers driven by four on/off solenoid valves.
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Dates et versions

hal-00619045 , version 1 (27-10-2011)

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Sean Hodgson, Minh-Quyen Le, Mahdi Tavakoli, Minh Tu Pham. Sliding-Mode Control of Nonlinear Discrete-Input Pneumatic Actuators. 2011 IEEE IROS, Sep 2011, San Francisco, CA, United States. pp.738-743, ⟨10.1109/IROS.2011.6048194⟩. ⟨hal-00619045⟩
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