%0 Generic
%A Chikh, Lotfi
%A Poignet, Philippe
%A Pierrot, François
%A Baradat, Cédric
%T A mixed GPC-H∞ robust cascade position-pressure control strategy for electropneumatic cylinders
%J Proceedings - IEEE International Conference on Robotics and Automation
%D 2010
%@ 1050-4729
%U https://hdl.handle.net/11556/2255
%X 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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