A Decoupling Servo Pressure Controller for Pneumatic Muscle Actuators

Martens M, Seel T, Boblan I (2018)

Publication Type: Conference contribution

Publication year: 2018

Publisher: Institute of Electrical and Electronics Engineers Inc.

Pages Range: 286-291

Conference Proceedings Title: 2018 23rd International Conference on Methods and Models in Automation and Robotics, MMAR 2018

Event location: Miedzyzdroje PL

ISBN: 9781538643259

DOI: 10.1109/MMAR.2018.8486045

Abstract

A pressure servo controller for pneumatic muscle actuators (PMAs) is presented and tested in three test scenarios. Unlike most previous non-linear control approaches, the current contribution demonstrated that a linear controller design becomes feasible after a slight reformulation of the non-linear plant dynamics. The controller is designed by pole placement in the discrete-time domain. It is demonstrated experimentally that the controller solves the control task and compensates pneumatic cross-coupling effects between different PMAs connected to a shared kinematic structure with an additional disturbance cancellation. When the initial PMA volume is kept constant, a closed-loop cutoff frequency of about 6 Hz is achieved. Beyond that, a sine pressure trajectory with 1 Hz is tracked successfully at time-varying volume, and the pressure changes triggered by volume changes are significantly reduced. The controller is easy to implement and therefore suitable to run on low-cost embedded hardware.

Authors with CRIS profile

Thomas Seel

Involved external institutions

Technische Universität Berlin DE Germany (DE) Berliner Hochschule für Technik Berlin DE Germany (DE)

How to cite

APA:

Martens, M., Seel, T., & Boblan, I. (2018). A Decoupling Servo Pressure Controller for Pneumatic Muscle Actuators. In 2018 23rd International Conference on Methods and Models in Automation and Robotics, MMAR 2018 (pp. 286-291). Miedzyzdroje, PL: Institute of Electrical and Electronics Engineers Inc..

MLA:

Martens, Mirco, Thomas Seel, and Ivo Boblan. "A Decoupling Servo Pressure Controller for Pneumatic Muscle Actuators." Proceedings of the 23rd International Conference on Methods and Models in Automation and Robotics, MMAR 2018, Miedzyzdroje Institute of Electrical and Electronics Engineers Inc., 2018. 286-291.

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