A combined GPC-H ∞ cascade control for pneumatic actuators: A comparative study

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URI: https://hdl.handle.net/11556/3344
ISSN: 1269-6935
DOI: 10.3166/JESA.46.137-165
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2012
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Abstract
This paper presents a comparison study between three types of pneumatic actuators. The goal is to choose the most suitable for low cost and high power-to-weight pick-and-place parallel robotic tasks. A cascade strategy scheme with an outer predictive position controller and an inner pressure H ∞ controller is developed and adapted for both cylinders and PAMs. Experimentations show that the cascade scheme presents better results than state of the art sliding mode control: the predictive controller reduces the time response and guarantees good dynamic tracking while the H ∞ inner pressure controller provides more robustness relatively to load variations which are important requirements for pick-and place robotic tasks.
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Cascade control , GPC , H , LMI , Output linearization , Pneumatic actuators , Control and Systems Engineering , Computer Science Applications , Industrial and Manufacturing Engineering , Electrical and Electronic Engineering
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journal article
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Chikh , L , Poignet , P , Pierrot , F , Baradat , C & Michelin , M 2012 , ' A combined GPC-H ∞ cascade control for pneumatic actuators : A comparative study ' , Journal Europeen des Systemes Automatises , vol. 46 , no. 2-3 , pp. 137-165 . https://doi.org/10.3166/JESA.46.137-165