Self-tuning control of a low-friction pneumatic actuator under the influence of gravity

Robert Richardson, Andrew R. Plummer, Michael D. Brown

    Research output: Contribution to journalArticlepeer-review

    Abstract

    Traditionally the positioning of pneumatic actuators has been limited to movement between preset stops or switches. The restricting factors preventing the use of pneumatic cylinders for accurate servo-control arise from highly nonlinear dynamic properties such as air compressibility and friction effects, which combine to severely degrade time response and positional accuracy. Many real systems are influenced by external gravity forces, which compound the problem of position control. A self-tuning system incorporating an external force balancing term is proposed using a low-friction cylinder. The low-friction cylinder is compared to conventional, sealed cylinders to demonstrate the increased performance.
    Original languageEnglish
    Pages (from-to)330-334
    Number of pages4
    JournalIEEE Transactions on Control Systems Technology
    Volume9
    Issue number2
    DOIs
    Publication statusPublished - Mar 2001

    Keywords

    • Low-friction cylinder
    • Pneumatics
    • Self-tuning control

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