Research on the position control of a 1-DOF set-up powered by pneumatic muscles

A. Pujana-Arrese; A. Mendizabal; J. Arenas; S. Riaño; J. Landaluze

doi:10.1109/ICMECH.2009.4957132

Research on the position control of a 1-DOF set-up powered by pneumatic muscles

A. Pujana-Arrese^*
, A. Mendizabal
, J. Arenas
, S. Riaño
, J. Landaluze

^*Corresponding author for this work

IKERLAN

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

7 Citations (Scopus)

Abstract

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.

Original language	English
Title of host publication	IEEE 2009 International Conference on Mechatronics, ICM 2009
DOIs	https://doi.org/10.1109/ICMECH.2009.4957132
Publication status	Published - 2009
Externally published	Yes
Event	IEEE 2009 International Conference on Mechatronics, ICM 2009 - Malaga, Spain Duration: 14 Apr 2009 → 17 Apr 2009

Publication series

Name	IEEE 2009 International Conference on Mechatronics, ICM 2009

Conference

Conference	IEEE 2009 International Conference on Mechatronics, ICM 2009
Country/Territory	Spain
City	Malaga
Period	14/04/09 → 17/04/09

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 9 Industry, Innovation, and Infrastructure

Keywords

PID control
Pneumatic muscle
Position control
Pressure control
Robotic arm
Robust control
Sliding-mode control

Access to Document

10.1109/ICMECH.2009.4957132

Cite this

@inproceedings{399fd01542b1468e85c51b5bac652fd1,

title = "Research on the position control of a 1-DOF set-up powered by pneumatic muscles",

abstract = "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\textasciitilde{} 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, \textasciitilde{} 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.",

keywords = "PID control, Pneumatic muscle, Position control, Pressure control, Robotic arm, Robust control, Sliding-mode control",

author = "A. Pujana-Arrese and A. Mendizabal and J. Arenas and S. Ria{\~n}o and J. Landaluze",

year = "2009",

doi = "10.1109/ICMECH.2009.4957132",

language = "English",

isbn = "9781424441952",

series = "IEEE 2009 International Conference on Mechatronics, ICM 2009",

booktitle = "IEEE 2009 International Conference on Mechatronics, ICM 2009",

note = "IEEE 2009 International Conference on Mechatronics, ICM 2009 ; Conference date: 14-04-2009 Through 17-04-2009",

}

Pujana-Arrese, A, Mendizabal, A, Arenas, J, Riaño, S & Landaluze, J 2009, Research on the position control of a 1-DOF set-up powered by pneumatic muscles. in IEEE 2009 International Conference on Mechatronics, ICM 2009., 4957132, IEEE 2009 International Conference on Mechatronics, ICM 2009, IEEE 2009 International Conference on Mechatronics, ICM 2009, Malaga, Spain, 14/04/09. https://doi.org/10.1109/ICMECH.2009.4957132

Research on the position control of a 1-DOF set-up powered by pneumatic muscles. / Pujana-Arrese, A.; Mendizabal, A.; Arenas, J. et al.
IEEE 2009 International Conference on Mechatronics, ICM 2009. 2009. 4957132 (IEEE 2009 International Conference on Mechatronics, ICM 2009).

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

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 -

Research on the position control of a 1-DOF set-up powered by pneumatic muscles

Abstract

Publication series

Conference

UN SDGs

Keywords

Access to Document

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