A mixed GPC-H infinity robust cascade position-pressure control strategy for electropneumatic cylindersReportar como inadecuado




A mixed GPC-H infinity robust cascade position-pressure control strategy for electropneumatic cylinders - Descarga este documento en PDF. Documentación en PDF para descargar gratis. Disponible también para leer online.

1 LIRMM - Laboratoire d-Informatique de Robotique et de Microélectronique de Montpellier 2 Fatronik France 3 DEXTER - Conception et commande de robots pour la manipulation LIRMM - Laboratoire d-Informatique de Robotique et de Microélectronique de Montpellier

Abstract : A robust cascade strategy combining an outer position predictive control loop and an inner H infinity pressure control loop is proposed and tested on an electropneumatic testbed for parallel robotic applications. Two types of cylinders are tested, the standard double acting cylinder and the rodless one. A position-pressure difference or force strategy is developed and implemented. As the behavior of the nonlinear cylinders is nonlinear, a feedback linearization strategy is adopted. A Generalized Predictive Controller GPC is synthesized for the position outer loop and a constrained LMI based H infinity controller is synthesized for the pressure inner loop. Experimental results show the feasibility of the control strategies and good performances in terms of robustness and dynamic tracking.

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Keywords : GPC cascade control pneumatic actuators modeling LMI feedback linearization

keyword : robust control





Autor: Lotfi Chikh - Philippe Poignet - François Pierrot - Cédric Baradat -

Fuente: https://hal.archives-ouvertes.fr/



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