TY - GEN
T1 - Research on the position control of a 1-DOF set-up powered by pneumatic muscles
AU - Pujana-Arrese, A.
AU - Mendizabal, A.
AU - Arenas, J.
AU - Riaño, S.
AU - Landaluze, J.
PY - 2009
Y1 - 2009
N2 - A one-degree-of-freedom set-up driven by pneumatic muscles was designed and built in order to research the applicability of pneumatic artificial muscles in industrial applications, especially in wearable robots such as exoskeletons. The experimental set-up is very non-linear and very difficult to control properly. As a reference, an enhanced PID controller was designed. At the same time, a robust controller H~ and a slidingmode controller based on an observer were designed and implemented. After that, a new position controller based on an internal pressure loop for each pneumatic muscle was tuned up. Firstly, this paper presents the experimental set-up and the system's linear models. After that, it summarizes the enhanced PID controller, ~ controller and the sliding-mode controller that have been designed. Then, it focuses on the position controller based on the internal pressure loops. Finally, the controllers are compared by means of experimental results.
AB - A one-degree-of-freedom set-up driven by pneumatic muscles was designed and built in order to research the applicability of pneumatic artificial muscles in industrial applications, especially in wearable robots such as exoskeletons. The experimental set-up is very non-linear and very difficult to control properly. As a reference, an enhanced PID controller was designed. At the same time, a robust controller H~ and a slidingmode controller based on an observer were designed and implemented. After that, a new position controller based on an internal pressure loop for each pneumatic muscle was tuned up. Firstly, this paper presents the experimental set-up and the system's linear models. After that, it summarizes the enhanced PID controller, ~ controller and the sliding-mode controller that have been designed. Then, it focuses on the position controller based on the internal pressure loops. Finally, the controllers are compared by means of experimental results.
KW - PID control
KW - Pneumatic muscle
KW - Position control
KW - Pressure control
KW - Robotic arm
KW - Robust control
KW - Sliding-mode control
UR - https://www.scopus.com/pages/publications/67650337075
U2 - 10.1109/ICMECH.2009.4957132
DO - 10.1109/ICMECH.2009.4957132
M3 - Conference contribution
AN - SCOPUS:67650337075
SN - 9781424441952
T3 - IEEE 2009 International Conference on Mechatronics, ICM 2009
BT - IEEE 2009 International Conference on Mechatronics, ICM 2009
T2 - IEEE 2009 International Conference on Mechatronics, ICM 2009
Y2 - 14 April 2009 through 17 April 2009
ER -
