Pneumatic Servo Systems Analysis: Control and Application in Robotic Systems (Advances in Industrial Control)

✍ Scribed by Ling Zhao, Yuanqing Xia, Hongjiu Yang, Jinhui Zhang

• Publisher: Springer
• Year: 2022
• Tongue: English
• Leaves: 325
• Category: Library

✦ Synopsis

This book focuses on pneumatic servo systems analysis, control and application in robotic systems. The pneumatic servo systems are composed by pneumatic artificial muscles or cylinders, which are two important pneumatic actuators in industrial application. The active disturbance rejection control technique is used effectively to solve strong nonlinearity and uncertain factors for the pneumatic servo systems. Nonlinear feedback control, back-stepping control, finite-time control, sliding mode control and several other control laws are proposed to make the pneumatic servo systems have better control performances. The book establishes a fundamental framework for this topic, while emphasizing the importance of integrated analysis. The book is intended for undergraduate and graduate students who are interested in this field and engineers working on the applications of pneumatic servo systems.

Advances in Industrial Control reports and encourages the transfer of technology in control engineering. The rapid development of control technology has an impact on all areas of the control discipline. The series offers an opportunity for researchers to present an extended exposition of new work in all aspects of industrial control.

✦ Table of Contents

Series Editor’s Foreword
Preface
Acknowledgements
Contents
Symbols and Acronyms
1 Introduction
1.1 Background
1.1.1 Application of Pneumatic System
1.1.2 Control Methods Overview of Typical Pneumatic Servo System
1.2 Problems Studied in This Book
1.2.1 Pneumatic Manipulator System
1.2.2 Pneumatic Dexterous Hand System
1.2.3 Pneumatic Motion Simulation System
1.2.4 Pneumatic Rod Cylinder Servo System
1.2.5 Pneumatic Right Angle Composite Motion System
1.3 Conclusion
References
2 Control Methods for Pneumatic Servo Systems
2.1 Active Disturbance Rejection Control
2.1.1 Tracking Differentiator
2.1.2 Extended State Observer
2.1.3 Nonlinear State Error Feedback
2.2 Backstepping
2.3 Sliding Mode Control
2.4 Finite Time Stability
2.5 Nonlinear Functions
Reference
Part I Pneumatic Manipulator System
3 Platform Introduction
3.1 Application Background
3.2 Platform Structure
3.2.1 Platform Components
3.2.2 Control Circuit
3.3 System Model
3.4 Simulation and Results
3.5 Conclusion
References
4 Linear Feedback Control
4.1 Introduction
4.2 Main Results
4.2.1 Schematic Diagram of Control Method
4.2.2 Nonlinear Extended State Observer
4.2.3 Linear Error Feedback Controller
4.3 Experiments and Results
4.4 Conclusion
References
5 Nonlinear Feedback Control
5.1 Introduction
5.2 Main Results
5.2.1 Schematic Diagram of Control Method
5.2.2 Reduced-Order Extended State Observer
5.2.3 Nonlinear Error Feedback Controller
5.3 Experiments and Results
5.4 Conclusion
References
6 Sliding Mode Control
6.1 Introduction
6.2 Main Results
6.2.1 Schematic Diagram of Control Method
6.2.2 Nonlinear Extended State Observer
6.2.3 Sliding Mode Controller
6.3 Experiments and Results
6.4 Conclusion
References
Part II Pneumatic Dexterous Hand System
7 Platform Introduction
7.1 Application Background
7.2 Platform Structure
7.2.1 Platform Components
7.2.2 Control Circuit
7.3 System Model
7.4 Conclusion
References
8 Backstepping Control
8.1 Introduction
8.2 Main Results
8.2.1 Schematic Diagram of Control Method
8.2.2 Nonlinear Extended State Observer
8.2.3 Backstepping Nonlinear Error Feedback Controller
8.3 Experiments and Results
8.4 Conclusion
References
9 Sliding Mode Control
9.1 Introduction
9.2 Main Results
9.2.1 Schematic Diagram of Control Method
9.2.2 Nonlinear Extended State Observer
9.2.3 Sliding Mode Controller
9.3 Experiments and Results
9.4 Conclusion
References
10 Nonlinear Feedback Control
10.1 Introduction
10.2 Main Results
10.2.1 Schematic Diagram of Control Method
10.2.2 Nonlinear Extended State Observer
10.2.3 Nonlinear Error Feedback Controller
10.3 Experiments and Results
10.4 Conclusion
References
Part III Pneumatic Motion Simulation System
11 Platform Introduction
11.1 Application Background
11.2 Platform Structure
11.2.1 Platform Components
11.2.2 Control Circuit
11.3 System Model
11.4 Simulation and Results
11.5 Conclusion
Reference
12 Nonlinear Feedback Control
12.1 Introduction
12.2 Main Results
12.2.1 Schematic Diagram of Control Method
12.2.2 Linear Extended State Observer
12.2.3 Nonlinear Error Feedback Controller
12.3 Experiments and Results
12.4 Conclusion
References
13 Linear Feedback Control
13.1 Introduction
13.2 Main Results
13.2.1 Schematic Diagram of Control Method
13.2.2 Nonlinear Extended State Observer
13.2.3 Linear Error Feedback Controller
13.3 Experiments and Results
13.4 Conclusion
References
14 Backstepping Control
14.1 Introduction
14.2 Main Results
14.2.1 Schematic Diagram of Control Method
14.2.2 Adaptive Extended State Observer
14.2.3 Nonlinear Backstepping Controller
14.3 Experiments and Results
14.4 Conclusion
References
Part IV Pneumatic Rod Cylinder Servo System
15 Platform Introduction
15.1 Application Background
15.2 Platform Structure
15.2.1 Platform Components
15.2.2 Control Circuit
15.3 System Model
15.4 Simulation and Results
15.5 Conclusion
References
16 Finite-Time Control
16.1 Introduction
16.2 Main Results
16.2.1 Schematic Diagram of Control Method
16.2.2 Super-Twisting Extended State Observer
16.2.3 Finite-Time Controller
16.3 Experiments and Results
16.4 Conclusion
References
17 Nonsingular Fast Terminal Sliding Mode Control
17.1 Introduction
17.2 Main Results
17.2.1 Schematic Diagram of Control Method
17.2.2 Extended State Observer
17.2.3 Nonsingular Fast Terminal Sliding Mode Controller
17.3 Experiments and Results
17.4 Conclusion
References
18 Integral Sliding Mode Control
18.1 Introduction
18.2 Main Results
18.2.1 Schematic Diagram of Control Method
18.2.2 Generalized Nonlinear Extended State Observer
18.2.3 Integral Sliding Mode Controller
18.3 Experiments and Results
18.4 Conclusion
References
Part V Pneumatic Right Angle Composite Motion System
19 Platform Introduction
19.1 Application Background
19.2 Platform Structure
19.2.1 Platform Components
19.2.2 Control Circuit
19.3 System Model
19.3.1 Rodless Cylinder Model
19.3.2 Five-Way Proportional Valve Model
19.3.3 Parameter Identification
19.4 Multi-point Positioning Experimental
19.4.1 Color Recognition of Cubes
19.4.2 Design of Path Planning
19.5 Conclusion
References
20 Nonlinear Feedback Control
20.1 Introduction
20.2 Main Results
20.2.1 Schematic Diagram of Control Method
20.2.2 Extended State Observer
20.2.3 Nonlinear Error Feedback Controller
20.3 Experiments and Results
20.4 Conclusion
References
21 Multi-controller Control
21.1 Introduction
21.2 Main Results
21.2.1 Schematic Diagram of Control Method
21.2.2 Extended State Observer
21.2.3 Backstepping-Based Controller
21.2.4 Multi-controller Strategy
21.3 Experiments and Results
21.4 Conclusion
References
22 Linear Feedback Control
22.1 Introduction
22.2 Main Results
22.2.1 Schematic Diagram of Control Method
22.2.2 Linear Extended State Observer
22.2.3 Linear Error Feedback Controller
22.3 Experiments and Results
22.4 Conclusion
References
Index