The purpose of this paper is to develop an accurate closed-loop acting force technique for a pneumatic actuator, as an essential stage in the implementation of positioning control strategy. Since an analytical nonlinear structure, which linearly depends on parameter uncertainties, generically characterizes pneumatic plants, a feedback linearization design is proposed to cancel most of the resulting nonlinearities. Then, we proposed a linear state-feedback control and an additive nonlinear action to robustly bound the force error dynamics, devices which are required to handle the further parametric uncertainties and exogenous unbounded disturbances that will arise on the deduced structure. The design of the linear control gains is performed within robust closed-loop pole clustering using a linear matrix inequality approach. Finally, various experimental results illustrate the validity of the approach.
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e-mail: karim.khayati@rmc.ca
e-mail: pascal.bigras@etsmtl.ca
e-mail: dessaint@ele.etsmtl.ca
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January 2008
Research Papers
Force Control Loop Affected by Bounded Uncertainties and Unbounded Inputs for Pneumatic Actuator Systems
Karim Khayati,
Karim Khayati
Dr.
Department of Mechanical Engineering,
e-mail: karim.khayati@rmc.ca
Royal Military College
, 15 Valour Drive, PO Box 17000, Station Forces, Kingston, Ontario, K7K 7B4, Canada
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Pascal Bigras,
Pascal Bigras
Professor
Department of Automated Manufacturing Engineering, École de Technologie Supérieure,
e-mail: pascal.bigras@etsmtl.ca
University of Quebec
, 1100 Notre-Dame West Street, Montreal, Quebec, H3C 1K3, Canada
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Louis-A. Dessaint
Louis-A. Dessaint
Professor
IEEE Senior Member
Department of Electrical Engineering, École de Technologie Supérieure,
e-mail: dessaint@ele.etsmtl.ca
University of Quebec
, 1100 Notre Dame West Street, Montreal, Quebec H3C 1K3, Canada
Search for other works by this author on:
Karim Khayati
Dr.
Department of Mechanical Engineering,
Royal Military College
, 15 Valour Drive, PO Box 17000, Station Forces, Kingston, Ontario, K7K 7B4, Canadae-mail: karim.khayati@rmc.ca
Pascal Bigras
Professor
Department of Automated Manufacturing Engineering, École de Technologie Supérieure,
University of Quebec
, 1100 Notre-Dame West Street, Montreal, Quebec, H3C 1K3, Canadae-mail: pascal.bigras@etsmtl.ca
Louis-A. Dessaint
Professor
IEEE Senior Member
Department of Electrical Engineering, École de Technologie Supérieure,
University of Quebec
, 1100 Notre Dame West Street, Montreal, Quebec H3C 1K3, Canadae-mail: dessaint@ele.etsmtl.ca
J. Dyn. Sys., Meas., Control. Jan 2008, 130(1): 011007 (9 pages)
Published Online: December 18, 2007
Article history
Received:
February 13, 2006
Revised:
June 4, 2007
Published:
December 18, 2007
Citation
Khayati, K., Bigras, P., and Dessaint, L. (December 18, 2007). "Force Control Loop Affected by Bounded Uncertainties and Unbounded Inputs for Pneumatic Actuator Systems." ASME. J. Dyn. Sys., Meas., Control. January 2008; 130(1): 011007. https://doi.org/10.1115/1.2807182
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