RT Conference Proceedings
T1 A mixed GPC-H∞ robust cascade position-pressure control strategy for electropneumatic cylinders
A1 Chikh, Lotfi
A1 Poignet, Philippe
A1 Pierrot, François
A1 Baradat, Cédric
AB 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.
SN 9781424450381
SN 1050-4729
YR 2010
FD 2010
LK https://hdl.handle.net/11556/2255
UL https://hdl.handle.net/11556/2255
LA eng
NO 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
NO conference
DS TECNALIA Publications
RD 28 jul 2024