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

Abstract : 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.
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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⟩

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