Publicación: COMPARISON BETWEEN THREE CONTROL STRATEGY APPLIED TO AN ELECTRO-PNEUMATIC 3-DOF PLATFORM
Fecha
2019
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2019 IEEE CHILEAN CONFERENCE ON ELECTRICAL, ELECTRONICS ENGINEERING, INFORMATION AND COMMUNICATION TECHNOLOGIES (CHILECON)
Resumen
IN THIS PAPER ARE SHOWN AND COMPARED TWO CONTROL STRATEGIES APPLIED TO A PARALLEL ROBOT OF THREE DEGREES OF FREEDOM DERIVED BY ELECTRO-PNEUMATIC ACTUATORS WITH PROPORTIONAL FLOW VALVES. ROBUST CONTROL IS IMPLEMENTED WITH A CLASSICAL PI CONTROL WITH A SECOND-ORDER COMPENSATOR FILTER; THIS IS A GOOD POSITION AND TRACKING CONTROLLER BUT IS NOT A SAFETY CONTROL IN TERMS OF HUMAN INTERACTION. MEANWHILE, A PROXY-BASED SLIDING MODE CONTROL IS IMPLEMENTED COMBINING THE ADVANTAGES OF SLIDING MODE CONTROL AND PROPORTIONAL INTEGRAL DERIVATIVE CONTROL. ALL THE RESULTS ARE OBTAINING IN CO-SIMULATION BETWEEN ADAMS AND MATLAB AND IN A REAL PLATFORM.
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Sliding mode control, Robust control, Position control, Pneumatic system
