Bw. Mcdonell et Je. Bobrow, ADAPTIVE TRACKING CONTROL OF AN AIR POWERED ROBOT ACTUATOR, Journal of dynamic systems, measurement, and control, 115(3), 1993, pp. 427-433
An adaptive controller is presented for a One-degree-of-freedom pneuma
tic actuator. The control law uses full-state feedback for simultaneou
s parameter identification and tracking control. For position control,
a pneumatic actuator with high bandwidth is difficult to obtain becau
se of the compressibility of air and the nonlinear characteristics of
air flowing through a variable area orifice. Most previous controllers
for gas powered actuators were relatively limited fixed gain or on-of
f type controllers with low tracking accuracy. Experimental results de
monstrate that tracking performance comparable to electric servomotors
can be obtained using the algorithm Presented despite the nonlinearit
ies and compressibility of air.