Incremental Nonlinear Dynamic Inversion Control of Long-Stroke Pneumatic Actuators

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

18 Downloads (Pure)

Abstract

Pneumatic cylinders provide an environmentfriendly actuation means by minimizing the leakage of any harmful industrial fluids, as occurs for hydraulic actuators. However, pneumatic actuation has not been utilized widely for industrial servo applications due to its highly nonlinear nature. Incremental nonlinear dynamic inversion (INDI) is a form of nonlinear dynamic inversion (NDI) that relies less on plantmodel information, and is thus inherently robust to mismatches in the known plant-model, and also to external disturbances. Developing an incremental nonlinear controller for a pneumatic system is the main focus of this research article, which is accomplished by utilizing a cascaded-control approach, where the inner-loop INDI tracks a given force and the outer-loop NDI is for controlling the piston-position. Moreover, realistic sensor noises have been added in the simulation and the robustness of the incremental approach is demonstrated with respect to a baseline PID controller.
Original languageEnglish
Title of host publicationEuropean Control Conference
Number of pages6
Publication statusPublished - 2021
EventEuropean Control Conference - Virtual event
Duration: 29 Jun 20212 Jul 2021

Conference

ConferenceEuropean Control Conference
Abbreviated titleECC21
Period29/06/212/07/21

Fingerprint

Dive into the research topics of 'Incremental Nonlinear Dynamic Inversion Control of Long-Stroke Pneumatic Actuators'. Together they form a unique fingerprint.

Cite this