%0 Journal Article
%A Chikh, Lotfi
%A Poignet, Philippe
%A Pierrot, François
%A Baradat, Cédric
%A Michelin, Micaël
%T A combined GPC-H ∞ cascade control for pneumatic actuators: 												A comparative study
%D 2012
%@ 1269-6935
%U https://hdl.handle.net/11556/3344
%X 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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