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Pneumatic cylinders: modelling and feedback force-control
In this paper, we model, analyze, and control an experimental set-up of a servo
pneumatic cylinder. The dynamic behaviour of pneumatic actuator systems is dominant
by nonlinear functions. First, a mathematical model for the pneumatic system
is derived. Secondly, we investigate the mathematical properties of this model and
show boundedness and positiveness of certain variables. Thirdly, we prove that a proportional
output feedback controller with saturation achieves practical tracking a wide
class of reference trajectories. We verify the theoretical results and the effectiveness of
the control by experiments.
Keywords: force control, pneumatic cylinder, modelling, tracking
File size: 422.09 KB
File type: pdf
Last download: Fri May 10, 2013 04:50:20 AM
