TY - JOUR

T1 - Discrete-time Adaptive Control of Pneumatic Actuators for 6-DoF Stewart Platform

AU - Kuznetsov, Nikolay V.

AU - Andrievsky, Boris

AU - Zaitceva, Iuliia

AU - Kudryashova, Elena V.

AU - Kuznetsova, Olga A.

N1 - Conference code: 10

PY - 2022/10/26

Y1 - 2022/10/26

N2 - This paper deals with computer-controlled pneumatic actuators for the Gough-Stewart platform with 6 degrees of freedom. An important feature considered in the paper pneumatic actuator is the use of a group of valves rather than a spool valve to control the pressure in the chambers, which leads to a significant quantization in terms of the level of the control action. In addition, there is a sampling in time in the control loop. The present work is aimed at ensuring the robustness of the pneumatic actuators for the Stewart platforms concerning their parameters and the effect of changing the load on the drive caused by the interdependence of the drives due to the movement of the platform. Two discrete-time (parametric, and signal-parametric) adaptive control algorithms, based on the concept of an implicit reference model with anti-windup correction are proposed. The simulation results are presented, demonstrating the efficiency of the signal-parametric algorithm.

AB - This paper deals with computer-controlled pneumatic actuators for the Gough-Stewart platform with 6 degrees of freedom. An important feature considered in the paper pneumatic actuator is the use of a group of valves rather than a spool valve to control the pressure in the chambers, which leads to a significant quantization in terms of the level of the control action. In addition, there is a sampling in time in the control loop. The present work is aimed at ensuring the robustness of the pneumatic actuators for the Stewart platforms concerning their parameters and the effect of changing the load on the drive caused by the interdependence of the drives due to the movement of the platform. Two discrete-time (parametric, and signal-parametric) adaptive control algorithms, based on the concept of an implicit reference model with anti-windup correction are proposed. The simulation results are presented, demonstrating the efficiency of the signal-parametric algorithm.

KW - robotic manipulator

KW - Gough-Stewart platform

KW - pneumatic actuator

KW - fluid servodrive

KW - adaptive control

KW - passification

KW - implicit reference model

KW - time sampling

UR - https://www.sciencedirect.com/science/article/pii/S2405896322021693#!

M3 - Article

VL - 55

SP - 2803

EP - 2808

JO - IFAC-PapersOnLine

JF - IFAC-PapersOnLine

SN - 2405-8971

IS - 10

Y2 - 22 June 2022 through 24 June 2022

ER -