Transactions of the Institute of Systems, Control and Information Engineers
Online ISSN : 2185-811X
Print ISSN : 1342-5668
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Simple Adaptive Control Synthesis Enhanced by Scaling and Its Application to Positioning Control of Antagonist-Type Pneumatic Actuation Mechanism
Yudai FudabaYoshio EbiharaTomomichi HagiwaraYasunao OkazakiMayumi Komatsu
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2009 Volume 22 Issue 10 Pages 350-356

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Abstract

In this paper, we aim at achieving accurate positioning control of a pneumatic actuation mechanism of antagonist-type by means of the simple adaptive control (SAC) method. Since this plant does not satisfy the ASPR-ness condition, we introduce a parallel feedforward compensator (PFC) so that the SAC strategy can be applied. However, the introduction of PFC leads to performance deterioration and in particular causes a steady state error. To suppress the steady-state error while keeping the fundamental structure of the SAC system, we introduce a “constant scaling” to the SAC system. We also consider a “dynamic scaling” so that the transient response of the controlled system can be improved. Through experiments, we show that the SAC strategy with these scalings is indeed effective in achieving accurate positioning control.

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© 2009 The Institute of Systems, Control and Information Engineers
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