Nonlinear position and stiffness Backstepping controller for a two Degrees of Freedom pneumatic robot

作者：Herzig Nicolas^*; Moreau Richard; Redarce Tanneguy; Abry Frederic; Brun Xavier

来源：Control Engineering Practice, 2018, 73: 26-39.

DOI：10.1016/j.conengprac.2017.12.007

• Backstepping controller design
• Damping control
• Electropneumatic robot
• Nonlinear control
• Stiffness control

This paper presents an architecture of a 2 Degrees of Freedom pneumatic robot which can be used as a haptic interface. To improve the haptic rendering of this device, a nonlinear position and stiffness controller without force measurement based on a Backstepping synthesis is presented. Thus, the robot can follow a targeted trajectory in Cartesian position with a variable compliant behavior when disturbance forces are applied. An appropriate tuning methodology of the closed-loop stiffness and closed-loop damping of the robot is given to obtain a desired disturbance response. The models, the synthesis and the stability analysis of this controller are described in this paper. Two models are presented in this paper, the first one is an accurate simulation model which describes the mechanical behavior of the robot, the thermodynamics phenomena in the pneumatic actuators, and the servovalves characteristics. The second model is the model used to synthesize the controller. This control model is obtained by simplifying the simulation model to obtain a MIMO strict feedback form. Finally, some simulation and experimental results are given and the controller performances are discussed and compared with a classical linear impedance controller.

• 出版日期2018-4