Herzig, N. orcid.org/0000-0002-5845-2697, Moreau, R., Redarce, T. et al. (2 more authors) (2018) Nonlinear position and stiffness Backstepping controller for a two Degrees of Freedom pneumatic robot. Control Engineering Practice, 73. pp. 26-39. ISSN 0967-0661
Abstract
This paper presents an architecture of a 2 Degrees of Freedom pneumatic robot which can be used as a haptic interface. To improve the haptic rendering of this device, a nonlinear position and stiffness controller without force measurement based on a Backstepping synthesis is presented. Thus, the robot can follow a targeted trajectory in Cartesian position with a variable compliant behavior when disturbance forces are applied. An appropriate tuning methodology of the closed-loop stiffness and closed-loop damping of the robot is given to obtain a desired disturbance response. The models, the synthesis and the stability analysis of this controller are described in this paper. Two models are presented in this paper, the first one is an accurate simulation model which describes the mechanical behavior of the robot, the thermodynamics phenomena in the pneumatic actuators, and the servovalves characteristics. The second model is the model used to synthesize the controller. This control model is obtained by simplifying the simulation model to obtain a MIMO strict feedback form. Finally, some simulation and experimental results are given and the controller performances are discussed and compared with a classical linear impedance controller.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2018 Elsevier Ltd. This is an author produced version of a paper subsequently published in Control Engineering Practice. Uploaded in accordance with the publisher's self-archiving policy. Article available under the terms of the CC-BY-NC-ND licence (https://creativecommons.org/licenses/by-nc-nd/4.0/). |
Keywords: | Backstepping controller design; Damping control; Electropneumatic robot; Nonlinear control; Stiffness control |
Dates: |
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Institution: | The University of Sheffield |
Academic Units: | The University of Sheffield > Faculty of Engineering (Sheffield) > Department of Automatic Control and Systems Engineering (Sheffield) |
Depositing User: | Symplectic Sheffield |
Date Deposited: | 21 Jan 2020 12:44 |
Last Modified: | 22 Jan 2020 07:48 |
Status: | Published |
Publisher: | Elsevier BV |
Refereed: | Yes |
Identification Number: | 10.1016/j.conengprac.2017.12.007 |
Related URLs: | |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:155660 |
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Licence: CC-BY-NC-ND 4.0