[KSCI] Korea Science Citation Index Service

Simultaneous Trajectory Tracking Control of Position and Force with Pneumatic Cylinder Driving Apparatus

Jang Ji Seong (Division of Mechanical Engineering, Pukyong National University)

Publication Information

Journal of Mechanical Science and Technology / v.19, no.5, 2005 , pp. 1107-1115 More about this Journal

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

Compressibility; Low Stiffness; Pneumatic Cylinder; Position and Force Trajectory Tracking;

Citations & Related Records

Times Cited By Web Of Science : 0 (Related Records In Web of Science)
Times Cited By SCOPUS : 0

Reference

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