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Position Servo Control Method for Multi-Degree-of-Freedom Pneumatic Manipulators Based on Delayed Feedback

Position Servo Control Method for Multi-Degree-of-Freedom Pneumatic Manipulators Based on Delayed... Multi-degree-of-freedom pneumatic manipulators are prone to time delay for influence of joint disturbances during position servo, resulting in poor robustness of position servo control of multi-degree-of-freedom pneumatic manipulators, so in order to improve the robustness of position servo control of multi-degree-of-freedom pneumatic manipulators, a method of position servo robustness control for multi-degree-of-freedom pneumatic manipulators based on delayed feedback is proposed. In this method, a sensor array is adopted to acquire position servo parameters of a multi-degree-of-freedom pneumatic manipulator, and a controlled object model for position servo control of the multi-degree-of-freedom pneumatic manipulator is constructed to adjust control constraint parameters. Based on this model constructed, the time-delay coupling tracking compensation method is adopted to adjust position error of the multi-degree-of-freedom pneumatic manipulator, and the inertial attitude parameter fusion method is adopted to correct control error of the manipulator, so as to optimize position servo control output of the manipulator. Simulation results show that this method has advantages of small error, good stability and posture error correction performance in position servo control of multi-degree-of-freedom pneumatic manipulators. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Automatic Control and Computer Sciences Springer Journals

Position Servo Control Method for Multi-Degree-of-Freedom Pneumatic Manipulators Based on Delayed Feedback

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References (14)

Publisher
Springer Journals
Copyright
Copyright © Allerton Press, Inc. 2020
ISSN
0146-4116
eISSN
1558-108X
DOI
10.3103/S0146411620010058
Publisher site
See Article on Publisher Site

Abstract

Multi-degree-of-freedom pneumatic manipulators are prone to time delay for influence of joint disturbances during position servo, resulting in poor robustness of position servo control of multi-degree-of-freedom pneumatic manipulators, so in order to improve the robustness of position servo control of multi-degree-of-freedom pneumatic manipulators, a method of position servo robustness control for multi-degree-of-freedom pneumatic manipulators based on delayed feedback is proposed. In this method, a sensor array is adopted to acquire position servo parameters of a multi-degree-of-freedom pneumatic manipulator, and a controlled object model for position servo control of the multi-degree-of-freedom pneumatic manipulator is constructed to adjust control constraint parameters. Based on this model constructed, the time-delay coupling tracking compensation method is adopted to adjust position error of the multi-degree-of-freedom pneumatic manipulator, and the inertial attitude parameter fusion method is adopted to correct control error of the manipulator, so as to optimize position servo control output of the manipulator. Simulation results show that this method has advantages of small error, good stability and posture error correction performance in position servo control of multi-degree-of-freedom pneumatic manipulators.

Journal

Automatic Control and Computer Sciences – Springer Journals

Published: Jan 26, 2020

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