HAL : hal-00619045, version 1

DOI : 10.1109/IROS.2011.6048194

Fiche détaillée

Récupérer au format BibTeX - EndNote - TEI - RefWorks -

IROS, San Francisco, CA : États-Unis (2011)

Sliding-Mode Control of Nonlinear Discrete-Input Pneumatic Actuators

Sean Hodgson 1, 2, Minh-Quyen Le 1, Mahdi Tavakoli 3, Minh Tu Pham (  Auteur correspondant ) 1

(09/2011)

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.

1 :	Ampère
	CNRS : UMR5005 – Université Claude Bernard - Lyon I – Institut National des Sciences Appliquées (INSA) - Lyon – Ecole Centrale de Lyon
2 :	University of Alberta, Canada
	University of Alberta
3 :	Telerobotic and Biorobotic Systems Group
	University of Alberta

Domaine

:

Sciences de l'ingénieur/Energie électrique

Mots Clés : Hydraulic/Pneumatic Actuators – Control Architectures and Programming – Industrial Robots

hal-00619045, version 1

http://hal.archives-ouvertes.fr/hal-00619045

oai:hal.archives-ouvertes.fr:hal-00619045

Contributeur : Publications Ampère <>

Soumis le : Jeudi 27 Octobre 2011, 20:28:59

Dernière modification le : Vendredi 28 Octobre 2011, 09:01:07