Non-linear position control of a pneumatic actuator with closed-loop stiffness and damping tuning

Frédéric Abry (1) , Xavier Brun (1) , Sylvie Sesmat (1) , Eric Bideaux (1)

1 MIS - Ampère, Département Méthodes pour l'Ingénierie des Systèmes

This article proposes a new strategy for pneumatic cylinder control using an innovative control synthesis model of the system. A backstepping based control law is synthesized to take advantage of the system two degrees of freedom and a thorough tuning method of the closed-loop stiffness and damping is provided.

Domaines: Automatique / Robotique; Mécanique [physics.med-ph]

Frédéric Abry, Xavier Brun, Sylvie Sesmat, Eric Bideaux. Non-linear position control of a pneumatic actuator with closed-loop stiffness and damping tuning. ECC, Jul 2013, Zürich, Switzerland. pp.1089 - 1094, ⟨10.23919/ECC.2013.6669357⟩. ⟨hal-00987090⟩