A generalized predictive force controller for electropneumatic cylinders

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URI: https://hdl.handle.net/11556/2425
ISSN: 1474-6670
ISBN: 9783902661807
DOI: 10.3182/20100901-3-IT-2016.00047
Publication date
2010
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IFAC Secretariat
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Abstract
Is it possible to synthesize an easy-to-implement predictive force controller for electropneumatic cylinders? In this paper, this problem is treated in details. As an electropneumatic cylinder is a highly nonlinear actuator, our strategy is based on the precise nonlinear modeling of the actuator and the application of a feedback linearization strategy. This enables to have an equivalent linearized model and therefore, to find an explicit solution of the predictive optimization problem. The obtained controller is then an easy-to-implement one and the number of control parameters is very reduced: the weighting coefficient and the prediction horizon. Experimental results prove the availability of this control approach and good performances in terms of capacity of tracking long duration static forces of high amplitudes.
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Feedback linearization , Force control , Pneumatic actuators modeling , Control and Systems Engineering
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conference output
Citation
Chikh , L , Poignet , P , Pierrot , F & Michelin , M 2010 , A generalized predictive force controller for electropneumatic cylinders . in 8th IFAC Symposium on Nonlinear Control Systems, NOLCOS 2010 . 14 edn , IFAC Proceedings Volumes (IFAC-PapersOnline) , no. 14 , vol. 43 , IFAC Secretariat , pp. 1058-1063 . https://doi.org/10.3182/20100901-3-IT-2016.00047