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Impedance Behavior of Controllers for Compliant Positioning of a Pneumatically Actuated System

[+] Author Affiliations
Hannes G. Daepp, Wayne J. Book

Georgia Institute of Technology, Atlanta, GA

Paper No. DSCC2015-9691, pp. V002T27A001; 10 pages
  • ASME 2015 Dynamic Systems and Control Conference
  • Volume 2: Diagnostics and Detection; Drilling; Dynamics and Control of Wind Energy Systems; Energy Harvesting; Estimation and Identification; Flexible and Smart Structure Control; Fuels Cells/Energy Storage; Human Robot Interaction; HVAC Building Energy Management; Industrial Applications; Intelligent Transportation Systems; Manufacturing; Mechatronics; Modelling and Validation; Motion and Vibration Control Applications
  • Columbus, Ohio, USA, October 28–30, 2015
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5725-0
  • Copyright © 2015 by ASME


Pneumatic actuators are frequently selected for use in machines intended for human interaction because of their clean operation and natural compliance. However, the compliance, coupled with friction, can also make motion control difficult, leading to the use of more aggressive controllers, such as high-gain PID or sliding mode control, which result in stiff closed-loop system behavior. Model-based options are needed to obtain behavior that provides a better trade-off of compliance and accurate position control. In particular, Model Predictive Control (MPC) is suggested; through the use of constrained optimal control, it offers a framework for minimizing tracking error while enforcing force constraints that ensure low impedance behavior.

This paper assesses the suitability of controllers for pneumatic systems to positioning applications in which human-machine interaction is anticipated. MPC is compared against commonly-used alternatives for such scenarios: sliding mode, PID, and impedance control. Results are shown in simulation, and use spectral analysis of the impedance and closed loop tracking to characterize the balance of compliance and accuracy for each of the controllers.

Copyright © 2015 by ASME



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