Tracking control of nonlinear pneumatic systems using input/output linearization by state feedback

• Autorzy: Wang J. , Kotta U. , Mangan S. , Wei J.
• Języki publikacji: EN

Abstrakty

EN

The paper proposed a control design method for servo-controlled pneumatic systems, which is based on the feedback linearization theory. The pneumatic actuator system model is transformed into a linear system description first by regular static state feedback and state coordinate transformation. A servo/tracking controller is then developed for the linear model. Since there exists an inverse transformation for the new co-ordinate system, the designed servo control is finally transformed back to the original state co-ordinates and input. Two different cases are discussed in the paper - the pneumatic cylinder is driven by a single five-port proportional valve and driven by two three-port proportional valves. At the initial stage, for the convenience of finding a suitable set of new coordinates, the static friction forces are ignored. The static friction forces can be treated as uncertainties to the system for robust controller design.

Słowa kluczowe

EN

nonlinear control systems; feedback control; motion control; dynamics; robustness control systems; position control; actuators; trajectories; optimization; problem solving; computer simulation

• Wydawca: Oficyna Wydawnicza Politechniki Wrocławskiej
• Czasopismo: Systems Science
• Rocznik: 2003
• Tom: Vol. 29, nr 1
• Strony: 151--164
• Opis fizyczny: Bibliogr. 15 poz.,

Twórcy

autor

Wang J.

• Department of Electrical Engineering, University of Liverpool, Liverpool, L69 3GJ, United Kingdom

autor

Kotta U.

• Institute of Cybernetics, Tallin Technical University, Akadeemia tee 21, 12618 Tallinn, Estonia

autor

Mangan S.

• Department of Electrical Engineering, University of Liverpool, Liverpool, L69 3GJ, United Kingdom

autor

Wei J.

• Department of Electrical Engineering, University of Liverpool, Liverpool, L69 3GJ, United Kingdom

Bibliografia

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