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- Title
Decoupling control for a multi-DOF pneumatic manipulator subject to imbalanced torques.
- Authors
Zhao, Ling; Chen, Huaidong; Li, Zhuojun
- Abstract
In this paper, a decoupling control strategy is presented for a multi-degree of freedom (DOF) pneumatic manipulator with imbalanced torques. Considering the gravity of the multi-DOF pneumatic manipulator, there exist imbalanced torques for the multi-DOF pneumatic manipulator in the functioning process. A decoupling nonlinear extended state observer (ESO) is used to estimate imbalanced torques and decoupling errors. A nonlinear decoupling error feedback controller is designed to decouple input and state couplings caused by mechanical structure for the multi-DOF pneumatic manipulator. Both effectiveness of the decoupling nonlinear ESO and close-loop stability of the multi-DOF pneumatic manipulator are verified by Lyapunov approaches. The comparative experiment results are given to show the effectiveness of the proposed control strategy for the multi-DOF pneumatic manipulator.
- Subjects
MANIPULATORS (Machinery); PNEUMATIC control; MULTI-degree of freedom; TORQUE; GRAVITY; AIR-supported structures; DEGREES of freedom
- Publication
Nonlinear Dynamics, 2024, Vol 112, Issue 5, p3541
- ISSN
0924-090X
- Publication type
Article
- DOI
10.1007/s11071-023-09244-6