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Interaction motion on pneumatic cylinder using prescribed performance force tracking impedance control

Pneumatic system has gained popularity in robotics and industrial automation technology especially in developing a cost-effective and highspeed robot/machine with low maintenance. However, control in such systems is very challenging especially that involved compliant and interaction behavior between...

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Main Authors: Addie Irawan, Hashim, Mohd Iskandar Putra, Azahar, Zool Hilmi, Ismail
格式: Conference or Workshop Item
语言:English
出版: IEEE 2020
主题:
TC Hydraulic engineering. Ocean engineering
TK Electrical engineering. Electronics Nuclear engineering
在线阅读:http://umpir.ump.edu.my/id/eprint/44124/1/Interaction_Motion_on_Pneumatic_Cylinder_using_Prescribed_Performance_Force_Tracking_Impedance_Control.pdf
http://umpir.ump.edu.my/id/eprint/44124/
https://doi.org/10.1109/ICCMA51325.2020.9301501
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spelling my.ump.umpir.441242025-03-19T01:10:30Z http://umpir.ump.edu.my/id/eprint/44124/ Interaction motion on pneumatic cylinder using prescribed performance force tracking impedance control Addie Irawan, Hashim Mohd Iskandar Putra, Azahar Zool Hilmi, Ismail TC Hydraulic engineering. Ocean engineering TK Electrical engineering. Electronics Nuclear engineering Pneumatic system has gained popularity in robotics and industrial automation technology especially in developing a cost-effective and highspeed robot/machine with low maintenance. However, control in such systems is very challenging especially that involved compliant and interaction behavior between the system and unknown environment. Therefore, this study has taken initiative to overcome the nonlinearity and uncertainties of pneumatic actuator in interaction of motion by proposed an accurate impedance control with prescribe performance function. The finite-time in prescribe performance is formulated to improve the force tracking between the desired impedance and unknown environment. The comparison study between proposed impedance control with finite-time prescribe performance force tracking shows almost zero steady-state-error, no oscillation at the first contact with environment, stable pressure in chamber and low energy consumption in terms of control input on valve. IEEE 2020-11-06 Conference or Workshop Item PeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/44124/1/Interaction_Motion_on_Pneumatic_Cylinder_using_Prescribed_Performance_Force_Tracking_Impedance_Control.pdf Addie Irawan, Hashim and Mohd Iskandar Putra, Azahar and Zool Hilmi, Ismail (2020) Interaction motion on pneumatic cylinder using prescribed performance force tracking impedance control. In: 2020 8th International Conference on Control, Mechatronics and Automation, ICCMA 2020 , 06 - 08 November 2020 , Moscow, Russia. pp. 121-126.. ISBN 978-1-7281-9210-9 (Published) https://doi.org/10.1109/ICCMA51325.2020.9301501
institution Universiti Malaysia Pahang Al-Sultan Abdullah
building UMPSA Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Malaysia Pahang Al-Sultan Abdullah
content_source UMPSA Institutional Repository
url_provider http://umpir.ump.edu.my/
language English
topic TC Hydraulic engineering. Ocean engineering
TK Electrical engineering. Electronics Nuclear engineering
spellingShingle TC Hydraulic engineering. Ocean engineering
TK Electrical engineering. Electronics Nuclear engineering
Addie Irawan, Hashim
Mohd Iskandar Putra, Azahar
Zool Hilmi, Ismail
Interaction motion on pneumatic cylinder using prescribed performance force tracking impedance control
description Pneumatic system has gained popularity in robotics and industrial automation technology especially in developing a cost-effective and highspeed robot/machine with low maintenance. However, control in such systems is very challenging especially that involved compliant and interaction behavior between the system and unknown environment. Therefore, this study has taken initiative to overcome the nonlinearity and uncertainties of pneumatic actuator in interaction of motion by proposed an accurate impedance control with prescribe performance function. The finite-time in prescribe performance is formulated to improve the force tracking between the desired impedance and unknown environment. The comparison study between proposed impedance control with finite-time prescribe performance force tracking shows almost zero steady-state-error, no oscillation at the first contact with environment, stable pressure in chamber and low energy consumption in terms of control input on valve.
format Conference or Workshop Item
author Addie Irawan, Hashim
Mohd Iskandar Putra, Azahar
Zool Hilmi, Ismail
author_facet Addie Irawan, Hashim
Mohd Iskandar Putra, Azahar
Zool Hilmi, Ismail
author_sort Addie Irawan, Hashim
title Interaction motion on pneumatic cylinder using prescribed performance force tracking impedance control
title_short Interaction motion on pneumatic cylinder using prescribed performance force tracking impedance control
title_full Interaction motion on pneumatic cylinder using prescribed performance force tracking impedance control
title_fullStr Interaction motion on pneumatic cylinder using prescribed performance force tracking impedance control
title_full_unstemmed Interaction motion on pneumatic cylinder using prescribed performance force tracking impedance control
title_sort interaction motion on pneumatic cylinder using prescribed performance force tracking impedance control
publisher IEEE
publishDate 2020
url http://umpir.ump.edu.my/id/eprint/44124/1/Interaction_Motion_on_Pneumatic_Cylinder_using_Prescribed_Performance_Force_Tracking_Impedance_Control.pdf
http://umpir.ump.edu.my/id/eprint/44124/
https://doi.org/10.1109/ICCMA51325.2020.9301501
_version_ 1827518444033015808
score 13.251813

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