A predictive robust cascade position-torque control strategy for Pneumatic Artificial Muscles

Lotfi Chikh; Philippe Poignet; François Pierrot; Micaël Michelin

doi:10.1109/acc.2010.5531276

A predictive robust cascade position-torque control strategy for Pneumatic Artificial Muscles

Lotfi Chikh, Philippe Poignet, François Pierrot, Micaël Michelin

Tecnalia Research & Innovation

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

4 Citations (Scopus)

Abstract

A robust cascade strategy is proposed and tested on an electropneumatic testbed for parallel robotic applications. It is applied on Pneumatic Artificial Muscles (PAMs). Nonlinear models are developed and presented. By specifying the pressure average between the two muscles, it is possible to control the torque by controlling the pressure in each muscle. A constrained LMI based H _∞ controller is synthesized for the pressure inner loop. A computed torque is applied on the torque loop and a Generalized Predictive Controller (GPC) controller is then applied to control position of the muscles. Experimental results show the feasibility of the control strategy and good performances in terms of robustness and dynamic tracking.

Original language	English
Title of host publication	Proceedings of the 2010 American Control Conference, ACC 2010
Publisher	IEEE Computer Society
Pages	6022-6029
Number of pages	8
ISBN (Print)	9781424474264
DOIs	https://doi.org/10.1109/acc.2010.5531276
Publication status	Published - 2010

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Name	Proceedings of the 2010 American Control Conference, ACC 2010

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10.1109/acc.2010.5531276

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Chikh, L., Poignet, P., Pierrot, F., & Michelin, M. (2010). A predictive robust cascade position-torque control strategy for Pneumatic Artificial Muscles. In Proceedings of the 2010 American Control Conference, ACC 2010 (pp. 6022-6029). Article 5531276 (Proceedings of the 2010 American Control Conference, ACC 2010). IEEE Computer Society. https://doi.org/10.1109/acc.2010.5531276

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title = "A predictive robust cascade position-torque control strategy for Pneumatic Artificial Muscles",

abstract = "A robust cascade strategy is proposed and tested on an electropneumatic testbed for parallel robotic applications. It is applied on Pneumatic Artificial Muscles (PAMs). Nonlinear models are developed and presented. By specifying the pressure average between the two muscles, it is possible to control the torque by controlling the pressure in each muscle. A constrained LMI based H ∞ controller is synthesized for the pressure inner loop. A computed torque is applied on the torque loop and a Generalized Predictive Controller (GPC) controller is then applied to control position of the muscles. Experimental results show the feasibility of the control strategy and good performances in terms of robustness and dynamic tracking.",

author = "Lotfi Chikh and Philippe Poignet and Fran{\c c}ois Pierrot and Mica{\"e}l Michelin",

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doi = "10.1109/acc.2010.5531276",

language = "English",

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A predictive robust cascade position-torque control strategy for Pneumatic Artificial Muscles. / Chikh, Lotfi; Poignet, Philippe; Pierrot, François et al.
Proceedings of the 2010 American Control Conference, ACC 2010. IEEE Computer Society, 2010. p. 6022-6029 5531276 (Proceedings of the 2010 American Control Conference, ACC 2010).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - A predictive robust cascade position-torque control strategy for Pneumatic Artificial Muscles

AU - Chikh, Lotfi

AU - Poignet, Philippe

AU - Pierrot, François

AU - Michelin, Micaël

PY - 2010

Y1 - 2010

N2 - A robust cascade strategy is proposed and tested on an electropneumatic testbed for parallel robotic applications. It is applied on Pneumatic Artificial Muscles (PAMs). Nonlinear models are developed and presented. By specifying the pressure average between the two muscles, it is possible to control the torque by controlling the pressure in each muscle. A constrained LMI based H ∞ controller is synthesized for the pressure inner loop. A computed torque is applied on the torque loop and a Generalized Predictive Controller (GPC) controller is then applied to control position of the muscles. Experimental results show the feasibility of the control strategy and good performances in terms of robustness and dynamic tracking.

AB - A robust cascade strategy is proposed and tested on an electropneumatic testbed for parallel robotic applications. It is applied on Pneumatic Artificial Muscles (PAMs). Nonlinear models are developed and presented. By specifying the pressure average between the two muscles, it is possible to control the torque by controlling the pressure in each muscle. A constrained LMI based H ∞ controller is synthesized for the pressure inner loop. A computed torque is applied on the torque loop and a Generalized Predictive Controller (GPC) controller is then applied to control position of the muscles. Experimental results show the feasibility of the control strategy and good performances in terms of robustness and dynamic tracking.

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BT - Proceedings of the 2010 American Control Conference, ACC 2010

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A predictive robust cascade position-torque control strategy for Pneumatic Artificial Muscles

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