RT Conference Proceedings
T1 A generalized predictive force controller for electropneumatic cylinders
A1 Chikh, Lotfi
A1 Poignet, Philippe
A1 Pierrot, François
A1 Michelin, Micäel
AB 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.
PB IFAC Secretariat
SN 9783902661807
SN 1474-6670
YR 2010
FD 2010
LK https://hdl.handle.net/11556/2425
UL https://hdl.handle.net/11556/2425
LA eng
NO 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
NO The authors would like to thank the Fatronik Tecnalia Foundation which supported the experimental setup.
DS TECNALIA Publications
RD 28 jul 2024