Simultaneous trajectory tracking control of position and force with pneumatic cylinder driving apparatus |
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Authors: | Ji-Seong Jang |
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Affiliation: | (1) Division of Mechanical Engineering, Pukyong National University, San 100, Yongdang-Dong, Nam-Gu, 608-739 Busan, Republic of Korea |
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Abstract: | In this study, a position and force simultaneous trajectory tracking control algorithm is proposed for a driving apparatus that consists of two pneumatic cylinders connected in series. The controller applied to the driving apparatus is composed of a non-interaction controller to compensate for interaction between cylinders and a disturbance observer aimed to reduce the effect of model discrepancy that cannot be compensated by the non-interaction controller. The effectiveness of the proposed control algorithm is proved by experimental results. |
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Keywords: | Compressibility Low Stiffness Pneumatic Cylinder Position and Force Trajectory Tracking |
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