TY - JOUR
T1 - Displacement control of flexible pneumatic cylinder using disturbance observer and smith compensator
AU - Kobayashi, Wataru
AU - Dohta, Shujiro
AU - Akagi, Tetsuya
AU - Miyamoto, Yusuke
AU - Kato, Naoki
AU - Ito, Kazuhisa
N1 - Funding Information:
This research was supported by the MEXT in Japan through a Financial Assistance Program for QOL Innovative Research (2012-2016) and a Grant-in-Aid for
Publisher Copyright:
© 2019 Int. J. Mech. Eng. Rob. Res.
Copyright:
Copyright 2019 Elsevier B.V., All rights reserved.
PY - 2019
Y1 - 2019
N2 - This study is concerned with flexible pneumatic cylinder. The cylinder can be used in the various fields such as life support, medical, welfare systems which require light-weight, high flexibility, and high cleanliness. However, the control of the cylinder is insufficient and then it is needed to improve its control performance for widening of applications of the cylinder. Therefore, we propose combination of disturbance observer, which has a function of model matching, and Smith compensator, which compensates time delay of the system, with conventional PI control. To evaluate the control performance of the proposed control, some experiments are carried out. As a result, it is confirmed that the control performance of the proposed control can be drastically improved. In particular, it can be seen that the proposed control is effective for time delay of the system. The flexible cylinder with the proposed control scheme will be used in rehabilitation devices in practice.
AB - This study is concerned with flexible pneumatic cylinder. The cylinder can be used in the various fields such as life support, medical, welfare systems which require light-weight, high flexibility, and high cleanliness. However, the control of the cylinder is insufficient and then it is needed to improve its control performance for widening of applications of the cylinder. Therefore, we propose combination of disturbance observer, which has a function of model matching, and Smith compensator, which compensates time delay of the system, with conventional PI control. To evaluate the control performance of the proposed control, some experiments are carried out. As a result, it is confirmed that the control performance of the proposed control can be drastically improved. In particular, it can be seen that the proposed control is effective for time delay of the system. The flexible cylinder with the proposed control scheme will be used in rehabilitation devices in practice.
KW - Displacement control
KW - Disturbance observer
KW - Flexible pneumatic cylinder
KW - Smith compensator
KW - Time delay
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U2 - 10.18178/ijmerr.8.4.594-599
DO - 10.18178/ijmerr.8.4.594-599
M3 - Article
AN - SCOPUS:85067003902
SN - 2278-0149
VL - 8
SP - 594
EP - 599
JO - International Journal of Mechanical Engineering and Robotics Research
JF - International Journal of Mechanical Engineering and Robotics Research
IS - 4
ER -