Design of a compliant positioning control using an inverse method

Eric Bideaux (1) , Mohamed Smaoui (1) , Xavier Brun (1, 2) , Daniel Thomasset (1)

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

The design of new system requires generally achieving different objectives. The choice of the right system and control architecture is crucial and they can be judiciously exploited. The proposed approach is dealing with the efficient use of a pneumatic cylinder controlled by two servovalves. The control objectives are independent position and stiffness tracking. A Bond graph approach gives, in a first step, a general methodology to check the accessibility of the specifications on energetic and dynamic criteria. Then a control algorithm issued from the flatness concept and the nonlinear control theory is developed. Simulation and experimental results illustrating the proposed principle are finally presented. Concerning the tracking performance, it is shown that the new strategy does not decrease tracking errors, or the static errors, or the standard deviation in term of position and velocity tracking. The performance of the stiffness control is finally illustrated in simulation.

Mots clés: Electropneumatic; inverse method; Bond graph; nonlinear control; flatness

Domaines: Automatique / Robotique

Eric Bideaux, Mohamed Smaoui, Xavier Brun, Daniel Thomasset. Design of a compliant positioning control using an inverse method. Bath Workshop on Power Transmission & Motion Control, Sep 2003, Bath, United Kingdom. ⟨hal-02066845⟩