Skip to main content
SpringerLink
Log in

Adaptive and fault tolerant tracking control of a pneumatic actuator

  • Section 1: Robot Control
  • Conference paper
  • First Online:
Experimental Robotics II

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 190))

  • 164 Accesses

Abstract

Pneumatic actuators are of interest for robotic applications because of their large force output per unit weight and their low cost. A pneumatic actuator with high bandwidth is difficult to obtain because of the compressibility of air and the nonlinear characteristics of air flowing through a variable area orifice. In this paper a controller for a one degree of freedom pneumatic system is presented which uses full-state feedback for simultaneous parameter identification and tracking control. Experimental results indicate that trajectory tracking comparable to electric motor driven robot systems can be achieved.

This research was supported by the Rockwell International Graduate Fellowship Program and by Parker-Hannifin, Parker-Bertea Aerospace Division.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution

Institutional subscriptions

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. C.R. Burrows and C.R. Webb. Use of root loci in design of pneumatic servo motors. Control, pages 423–427, August 1966.

    Google Scholar 

  2. G.C. Goodwin and K.S. Sin. Adaptive Filtering Prediction and Control. Prentice-Hall, 1984.

    Google Scholar 

  3. S.M. Kim and J.S. Gibson. Digital adaptive control of robotic manipulators with flexible joints. In Proceedings of the 1991 American Control Conference, Boston, Mass., June 1991.

    Google Scholar 

  4. S. Liu and J.E. Bobrow. An analysis of a pneumatic servo system and its application to a computer-controlled robot. ASME Journal of Dynamic System Measurement, September 1988.

    Google Scholar 

  5. J. Mannetje. Pneumatic servo design method improves system bandwidth twenty-fold. Control Engineering, pages 79–83, June 1981.

    Google Scholar 

  6. J. L. Shearer. Study of pneumatic processes in the continuous control of motion with compressed air — I,II. Transactions of ASME, pages 233–242, February 1956.

    Google Scholar 

  7. D.R. Vaughan. Hot-gas actuators: Some limits on the response speed. ASME Journal of Basic Engineering, pages 113–119, March 1955.

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Department of Mechanical and Aerospace Engineering, University of California, Irvine, 92717, Irvine, California

    B. W. McDonell & J. E. Bobrow

Authors
  1. B. W. McDonell
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. J. E. Bobrow
    View author publications

    You can also search for this author in PubMed Google Scholar

Editor information

Raja Chatila Gerd Hirzinger

Rights and permissions

Reprints and permissions

Copyright information

© 1993 Springer-Verlag London Limited

About this paper

Cite this paper

McDonell, B.W., Bobrow, J.E. (1993). Adaptive and fault tolerant tracking control of a pneumatic actuator. In: Chatila, R., Hirzinger, G. (eds) Experimental Robotics II. Lecture Notes in Control and Information Sciences, vol 190. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0036130

Download citation

  • DOI: https://doi.org/10.1007/BFb0036130

  • Published:

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-19851-2

  • Online ISBN: 978-3-540-39323-8

  • eBook Packages: Springer Book Archive

Publish with us

Policies and ethics

Search

Navigation