RT Conference Proceedings
T1 A predictive robust cascade position-torque control strategy for Pneumatic Artificial Muscles
A1 Chikh, Lotfi
A1 Poignet, Philippe
A1 Pierrot, François
A1 Michelin, Micaël
AB A robust cascade strategy is proposed and tested on an electropneumatic testbed for parallel robotic applications. It is applied on Pneumatic Artificial Muscles (PAMs). Nonlinear models are developed and presented. By specifying the pressure average between the two muscles, it is possible to control the torque by controlling the pressure in each muscle. A constrained LMI based H ∞ controller is synthesized for the pressure inner loop. A computed torque is applied on the torque loop and a Generalized Predictive Controller (GPC) controller is then applied to control position of the muscles. Experimental results show the feasibility of the control strategy and good performances in terms of robustness and dynamic tracking.
PB IEEE Computer Society
SN 9781424474264
YR 2010
FD 2010
LK https://hdl.handle.net/11556/2842
UL https://hdl.handle.net/11556/2842
LA eng
NO Chikh , L , Poignet , P , Pierrot , F & Michelin , M 2010 , A predictive robust cascade position-torque control strategy for Pneumatic Artificial Muscles . in Proceedings of the 2010 American Control Conference, ACC 2010 . , 5531276 , Proceedings of the 2010 American Control Conference, ACC 2010 , IEEE Computer Society , pp. 6022-6029 . https://doi.org/10.1109/acc.2010.5531276
DS TECNALIA Publications
RD 28 jul 2024