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Robust control of pneumatic actuators based on a simplified model with delayed input

E Edjekouane 1 Samer Riachy 2, 1 M Ghanes 1 Jean-Pierre Barbot 1, 2
2 NON-A - Non-Asymptotic estimation for online systems
Inria Lille - Nord Europe, CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189
Abstract : — Due to frictions and air compressibility, the dy-namics of pneumatic actuators is often described by a complex fourth-order non linear model. Therefore, simplifying the model of pneumatic actuators is of prime interest to design a controller. In this paper a simple second order model is proposed by modeling the pressure dynamics with a pure time delay on the control input. The Artstein transformation is applied to this model to get a delay-free second order system. Then the delay-free system is stabilized using a robust nonlinear controller. The relevance of the proposed approach is demonstrated through experimental tests.
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https://hal.inria.fr/hal-01084398
Contributor : Essaid Edjekouane <>
Submitted on : Wednesday, November 19, 2014 - 10:44:25 AM
Last modification on : Tuesday, September 29, 2020 - 12:24:09 PM
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E Edjekouane, Samer Riachy, M Ghanes, Jean-Pierre Barbot. Robust control of pneumatic actuators based on a simplified model with delayed input. 13th International Workshop on Variable Structure Systems, Jun 2014, Nante, France. pp.1 - 6, ⟨10.1109/VSS.2014.6881117⟩. ⟨hal-01084398⟩

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