A generalized predictive force controller for electropneumatic cylinders

Abstract : Is it possible to synthesize an easy-to-implement predictive force controller for electropneumatic cylinders? In this paper, this problem is treated in details. As an electropneumatic cylinder is a highly nonlinear actuator, our strategy is based on the precise nonlinear modeling of the actuator and the application of a feedback linearization strategy. This enables to have an equivalent linearized model and therefore, to find an explicit solution of the predictive optimization problem. The obtained controller is then an easy-to-implement one and the number of control parameters is very reduced: the weighting coefficient and the prediction horizon. Experimental results prove the availability of this control approach and good performances in terms of capacity of tracking long duration static forces of high amplitudes.
Type de document :
Communication dans un congrès
NOLCOS: Nonlinear Control Systems, Sep 2010, University of Bologna, Italy. NOLCOS'10: 8th IFAC Symposium on Nonlinear Control Systems, pp.1058-1063, 2010, 〈10.3182/20100901-3-IT-2016.00047〉
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00812827
Contributeur : Philippe Poignet <>
Soumis le : jeudi 24 septembre 2015 - 19:02:31
Dernière modification le : jeudi 24 mai 2018 - 15:59:21

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Lotfi Chikh, Philippe Poignet, François Pierrot, Micaël Michelin. A generalized predictive force controller for electropneumatic cylinders. NOLCOS: Nonlinear Control Systems, Sep 2010, University of Bologna, Italy. NOLCOS'10: 8th IFAC Symposium on Nonlinear Control Systems, pp.1058-1063, 2010, 〈10.3182/20100901-3-IT-2016.00047〉. 〈lirmm-00812827〉

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