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Design of robust nonlinear force and stiffness controller for pneumatic actuators | IEEE Conference Publication | IEEE Xplore

Design of robust nonlinear force and stiffness controller for pneumatic actuators


Abstract:

This paper introduces a new backstepping-sliding mode controller designed specifically for pneumatic actuators. Based on a detailed mathematical model of the pneumatic sy...Show More

Abstract:

This paper introduces a new backstepping-sliding mode controller designed specifically for pneumatic actuators. Based on a detailed mathematical model of the pneumatic system that included the dynamics of the valves, the algorithm was proven able to track the desired force and stiffness independently without chattering. The global Lyapunov asymptotic stability of the pressure tracking for each chamber was analyzed. Numerical simulations and validating experiments using a real-time platform were performed for a pneumatic actuator suitable for wearable robotics applications.
Date of Conference: 10-13 December 2012
Date Added to IEEE Xplore: 04 February 2013
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Conference Location: Maui, HI, USA

References

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