Chikh, LotfiPoignet, PhilippePierrot, FrançoisBaradat, Cédric2024-07-242024-07-242010Chikh , 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.2010.5509386conference97814244503811050-4729https://hdl.handle.net/11556/2255A 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.8enginfo:eu-repo/semantics/openAccessconference output10.1109/ROBOT.2010.5509386SoftwareControl and Systems EngineeringArtificial IntelligenceElectrical and Electronic Engineeringhttp://www.scopus.com/inward/record.url?scp=77955803225&partnerID=8YFLogxK