A mixed GPC-H∞ robust cascade position-pressure control strategy for electropneumatic cylinders

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URI: https://hdl.handle.net/11556/2255
ISSN: 1050-4729
ISBN: 9781424450381
DOI: 10.1109/ROBOT.2010.5509386
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2010
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Abstract
A robust cascade strategy combining an outer position predictive control loop and an inner H∞ pressure control loop is proposed and tested on an electropneumatic testbed for parallel robotic applications. Two types of cylinders are tested, the standard double acting cylinder and the rodless one. A position/pressure difference (or force) strategy is developed and implemented. As the behavior of the nonlinear cylinders is nonlinear, a feedback linearization strategy is adopted. A Generalized Predictive Controller (GPC) is synthesized for the position outer loop and a constrained LMI based H∞ controller is synthesized for the pressure inner loop. Experimental results show the feasibility of the control strategies and good performances in terms of robustness and dynamic tracking.
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Software , Control and Systems Engineering , Artificial Intelligence , Electrical and Electronic Engineering
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Chikh , L , Poignet , P , Pierrot , F & Baradat , C 2010 , A mixed GPC-H ∞ robust cascade position-pressure control strategy for electropneumatic cylinders . in 2010 IEEE International Conference on Robotics and Automation, ICRA 2010 . , 5509386 , Proceedings - IEEE International Conference on Robotics and Automation , pp. 5147-5154 , 2010 IEEE International Conference on Robotics and Automation, ICRA 2010 , Anchorage, AK , United States , 3/05/10 . https://doi.org/10.1109/ROBOT.2010.5509386
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