Hybrid control for switching between position and force tracking

Xavier Brun (1, 2) , Daniel Thomasset (1) , Serge Scavarda (1)

1 LAI - Laboratoire d'Automatique Industrielle
2 MIS - Ampère, Département Méthodes pour l'Ingénierie des Systèmes

This paper is the logical result of previous researches about advanced control in electropneumatic systems. After different works in feedback control of electropneumatic actuators in position tracking [1] or in force tracking [2], this study led about a method to switch between these two different focuses. This question is an important problem in many industrial systems, for example in the case of vehicle active suspension or for pneumatic or hydraulic pliers, fingers and spot welding, fatigue test. Indeed, some dangerous damages could occur when the aim is to move a load near a structure and to apply a force against this structure. The major difficulty is to know when and how to switch between the position control and the force control (this is here the notion of hybrid control). A classical occurrence is due to a static position error when the control algorithm switches from position feedback to force feedback. The result leads very often to an undesirable impact to the structure. KEYWORDS Force / position tracking, hybrid control, pneumatic.

Domaines: Automatique / Robotique

Xavier Brun, Daniel Thomasset, Serge Scavarda. Hybrid control for switching between position and force tracking. 4th International Symposium on Fluid Power Transmission and Control, Apr 2003, Wuhan, China. ⟨hal-02066833⟩