Name
Title | ||
|---|---|---|
Modified nonlinear pressure estimator of pneumatic actuator for force controller design |
Abstract | ||
|---|---|---|
This paper presents a modified nonlinear pneumatic model for pneumatic force servo systems. The modified model is proposed in order to estimate pressures accurately for both chambers of a pneumatic cylinder by adopting flow coefficient maps, which is different from a conventional model whose flow coefficient is constant. The simulated data from the model is also compared to the experiment result and shows its accuracy compared to a widely used conventional model. The modified model and the experimental procedure are described and verified in this paper as well. Finally, the applicability of the proposed model to model-based controller design is also shown through the experiment of force servo controls based on a force sensor. |
Year | DOI | Venue |
|---|---|---|
2017 | 10.1109/ICRA.2017.7989075 | 2017 IEEE International Conference on Robotics and Automation (ICRA) |
Keywords | Field | DocType |
modified nonlinear pressure estimator,pneumatic actuator,force controller design,modified nonlinear pneumatic model,pneumatic force servo systems,pneumatic cylinder,flow coefficient maps,model-based controller design,force servo controls,force sensor | Nonlinear system,Pneumatic actuator,Servo,Pneumatic cylinder,Control theory,Control engineering,Flow coefficient,Servomechanism,Engineering,Estimator,Servomotor | Conference |
Volume | Issue | ISBN |
2017 | 1 | 978-1-5090-4634-8 |
Citations | PageRank | References |
0 | 0.34 | 3 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Yun-Pyo Hong | 1 | 24 | 3.41 |
| Soohyun Kim | 2 | 0 | 0.68 |
| Kyung-Soo Kim | 3 | 6 | 2.36 |