Journal of Mechanical Science and Technology

The Korean Society of Mechanical Engineers (대한기계학회)
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Simultaneous Trajectory Tracking Control of Position and Force with Pneumatic Cylinder Driving Apparatus

  • Jang Ji Seong (Division of Mechanical Engineering, Pukyong National University)
  • Published : 2005.05.01
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Abstract

In this study, a position and force simultaneous trajectory tracking control algorithm is proposed for a driving apparatus that consists of two pneumatic cylinders connected in series. The controller applied to the driving apparatus is composed of a non-interaction controller to compensate for interaction between cylinders and a disturbance observer aimed to reduce the effect of model discrepancy that cannot be compensated by the non-interaction controller. The effectiveness of the proposed control algorithm is proved by experimental results.

Keywords

References

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