The Experts below are selected from a list of 22125 Experts worldwide ranked by ideXlab platform

M G Radke - One of the best experts on this subject based on the ideXlab platform.

  • reduced order sliding mode control for Pneumatic actuator
    IEEE Transactions on Control Systems and Technology, 1994
    Co-Authors: Arun Kumar Paul, J E Mishra, M G Radke
    Abstract:

    A new position control algorithm, based on sliding mode control, has been developed for a Pneumatic cylinder. In the proposed Pneumatic System, commercially available two-way on-off solenoid valves have been used. The inherent robustness property of the sliding mode controller makes it easier to select the switching gains of the controller. Moreover, approximate dynamic modeling of the System makes the controller simple. Since in sliding mode control, the states remain on the sliding surface, the motion of the piston is very smooth. This suggests the potential of Pneumatic cylinders as actuators for robot manipulators. The controller is hybrid in nature, consisting of an error amplifier, data conversion devices and an 8088 microprocessor along with various digital circuit accessories. Only one feedback device (potentiometer) is used. Velocity is calculated from the sampled position signals. >

Muhammad Bostanian - One of the best experts on this subject based on the ideXlab platform.

  • position control of an electro Pneumatic System based on pwm technique and flc
    Isa Transactions, 2014
    Co-Authors: Behrouz Najjari, Masoud S Barakati, A Mohammadi, Muhammad J Futohi, Muhammad Bostanian
    Abstract:

    In this paper, modeling and PWM based control of an electro-Pneumatic System, including the four 2–2 valves and a double acting cylinder are studied. Dynamic nonlinear behavior of the System, containing fast switching solenoid valves and a Pneumatic cylinder, as well as electrical, magnetic, mechanical, and fluid subSystems are modeled. A DC–DC power converter is employed to improve solenoid valve performance and suppress System delay. Among different position control methods, a proportional integrator derivative (PID) controller and fuzzy logic controller (FLC) are evaluated. An experimental setup, using an AVR microcontroller is implemented. Simulation and experimental results verify the effectiveness of the proposed control strategies.

Jun Ueda - One of the best experts on this subject based on the ideXlab platform.

  • model based force control of Pneumatic actuators with long transmission lines
    IEEE-ASME Transactions on Mechatronics, 2018
    Co-Authors: Melih Turkseven, Jun Ueda
    Abstract:

    Pneumatic Systems with long transmission lines have recently gained popularity in teleoperated robotic applications, such as medical robots designed for operations in magnetic resonance rooms, mobile transportation robots, or Pneumatically actuated humanoids. These teleoperated Systems typically suffer from time delay and mass flow attenuation between the actuator and the drivers. The conventional paradigm in Pneumatic System control is to employ standardized Pneumatic System models that present large errors in characterizing the pressure dynamics of teleoperated actuators. The use of more accurate modeling approaches has been limited to flow simulations for their complexity. This study introduces a methodology that adapts an accurate nonlinear line model to nonlinear controllers. The proposed method utilizes the line model to formulate a virtual input that brings the System to the desired state. The contribution of the proposed method in the force control accuracy was experimentally validated for Systems that involve 5–10 m long transmission lines. The introduced method achieved up to 75% reduction in the error compared to a standard sliding-mode-based force control at reference frequencies between 0.5–2 Hz.

  • an asymptotically stable pressure observer based on load and displacement sensing for Pneumatic actuators with long transmission lines
    IEEE-ASME Transactions on Mechatronics, 2017
    Co-Authors: Melih Turkseven, Jun Ueda
    Abstract:

    Pneumatic Systems have regained popularity in robotics with the new advances in the electronic valves that have enabled precise position control of Pneumatic cylinders. Recently, the use of Pneumatic Systems has been extended to force and impedance control. Such new applications include teleoperated medical robotic Systems with Pneumatic transmission lines where more advanced System modeling and control is required. Pressures of a Pneumatic actuator are commonly used to improve control performance. When direct pressure measurement is not available or not desirable for cost-effective implementation, actuator pressures can be estimated by a model-based observer. This paper introduces a nonlinear pressure observer based on force and displacement sensing. The proposed algorithm allows for asymptotic stability of pressure estimation error with an improved convergence. The presented method does not require a transmission line model and guarantees bounded stability in the presence of disturbance in force measurements, hence it is able to provide a robust pressure estimation. The effectiveness of the proposed observer is confirmed by performing force control experiments in a teleoperated Pneumatic System.

Arun Kumar Paul - One of the best experts on this subject based on the ideXlab platform.

  • reduced order sliding mode control for Pneumatic actuator
    IEEE Transactions on Control Systems and Technology, 1994
    Co-Authors: Arun Kumar Paul, J E Mishra, M G Radke
    Abstract:

    A new position control algorithm, based on sliding mode control, has been developed for a Pneumatic cylinder. In the proposed Pneumatic System, commercially available two-way on-off solenoid valves have been used. The inherent robustness property of the sliding mode controller makes it easier to select the switching gains of the controller. Moreover, approximate dynamic modeling of the System makes the controller simple. Since in sliding mode control, the states remain on the sliding surface, the motion of the piston is very smooth. This suggests the potential of Pneumatic cylinders as actuators for robot manipulators. The controller is hybrid in nature, consisting of an error amplifier, data conversion devices and an 8088 microprocessor along with various digital circuit accessories. Only one feedback device (potentiometer) is used. Velocity is calculated from the sampled position signals. >

Raja Mohd Taufika, Raja Ismail - One of the best experts on this subject based on the ideXlab platform.

  • Fuzzy self-adaptive sliding mode controller for Pneumatic cylinder rod-piston motion precision control
    'Universiti Malaysia Pahang Publishing', 2019
    Co-Authors: Mohd Iskandar Putra, Addie Irawan Hashim, Raja Mohd Taufika, Raja Ismail
    Abstract:

    This paper presents the Fuzzy Self-Adaptive Sliding Mode Controller (FSASMC) designed to control a Pneumatic cylinder rod-piston motion and precision. The Pneumatic System is widely used in the industry due to its advantages such as high weight to power ratio, high traveling speed, clean fluid medium and cost-effective in term of price and maintenance. However, due to the high nonlinearity behavior of Pneumatic System the position control of the Pneumatic System is still a challenging task. The most critical part in controlling the Pneumatic System with various motion is in giving a stable pressure in chambers while the rod-piston is precisely controllable with any shape of control inputs and minimum friction as well. Therefore, FSASMC is proposed to cater both fast responses through Sliding Mode Control (SMC) and dynamic stability in pressures through Fuzzy Self-adaptive tuning using Fuzzy Logic Control (FLC) in which mainly focus on steady-state error. The proposed control System is verified and analysis was emphasized on crucial parameters for Pneumatic rod-piston motion; steady-state error, velocity, pressure in Pneumatic cylinder chambers and frictional force. Simulation results show that the proposed controller approach performing fast and accurate response for position control of the Pneumatic rod-piston with better steadystate error, no oscillation, fast response and stable in air pressures

  • Fuzzy self-adaptive PID for Pneumatic rod piston motion control
    'Institute of Electrical and Electronics Engineers (IEEE)', 2019
    Co-Authors: Mohd Iskandar Putra Azahar, Addie Irawan Hashim, Raja Mohd Taufika, Raja Ismail
    Abstract:

    This paper presents an integration control method for Pneumatic piston rod position control using Fuzzy Self-Adaptive proportional, integral and derivative (FSAPID) controller. Motion control of the Pneumatic piston rod is a complex task and highly nonlinear makes it difficult to handle the task involving precise positioning. Therefore, this research has designed FSAPID with the fuzzy logic System as a tuner to the PID controller to overcome the fast response and high oscillation by the Pneumatic piston actuation. Set of fuzzy rules was designed as a decision maker for PID gains according to the input tracking errors of the rod piston position The FSAPID was verified through several simulations and compared with conventional PID control on the same double acting single piston Pneumatic System plant. The results show FSAPID able to reduce the steady-state error as well as low vibration on a Pneumatic stroke motion. Moreover, FSAPID performing low overshoot rate and fast settling time than the PID controller