A Hierarchical Feedback Control Scheme for Pneumatic Drive Systems

Abstract

We propose a new method to control pneumatic drive systems. In this control scheme, pressure feedback loops are effectively used in order to improve the performance of pneumatic systems. Concretely speaking, pressure feedback loops and position feedback loops are hierarchically connected, and the desired pressure patterns are composed of the position feedback input. The stability of the motion is investigated by using a Liapunov function. As the result, it can be mathematically proven that the motion of pneumatic drive systems converges to the desired point as time tends to infinity even if the disturbance affects the motion. The effectiveness of this control scheme is demonstrated through simulation results.