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Adaptive robust output force tracking control of (自适应鲁棒输出跟踪控制的力量)
J. Cent. South Univ. (2013) 20: 1510−1518
DOI: 10.1007/s11771-013-1642-4
Adaptive robust output force tracking control of pneumatic
cylinder while maximizing/minimizing its stiffness
MENG De-yuan(孟德远), TAO Guo-liang(陶国良), BAN Wei(班伟), QIAN Peng-fei(钱鹏飞)
State Key Laboratory of Fluid Power and Mechatronic Systems (Zhejiang University), Hangzhou 310027, China
© Central South University Press and Springer-Verlag Berlin Heidelberg 2013
Abstract: The system considered in this work consists of a cylinder which is controlled by a pair of three-way servo valves rather
than a four-way one. Therefore, the cylinder output stiffness is independently controllable of the output force. A discontinuous
projection based adaptive robust controller (ARC) was constructed to achieve high-accuracy output force trajectory tracking for the
system. In ARC, on-line parameter adaptation method was adopted to reduce the extent of parametric uncertainties due to the
variation of friction parameters, and sliding mode control method was utilized to attenuate the effects of parameter estimation errors,
unmodelled dynamics and disturbance. Furthermore, output stiffness maximization/minimization was introduced to fulfill the
requirement of many robotic applications. Extensive experimental results were presented to illustrate the effectiveness and the
achievable performance of the proposed scheme. For tracking a 0.5 Hz sinusoidal trajectory, maximum tracking error is 4.1 N and
average tracking error is 2.2 N. Meanwhile, the output stiffness can be made and maintained near its maximum/minimum.
Key words: servo-pneumatic systems; output force control; cylinder output stiffness; sl
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