Position control of flexible pneumatic cylinder using tiny embedded controller with disturbance observer

Wataru Kobayashi, Naoki Kato, Shujiro Dohta, Tetsuya Akagi, Kazuhisa Itoc

Research output: Contribution to journalArticlepeer-review

2 Citations (Scopus)

Abstract

In the previous study, the flexible pneumatic cylinder was proposed and tested as a wearable actuator. The flexible robot arm using the cylinder for human wrist rehabilitation was also developed. In the next step, it is necessary to improve the control performance affected by disturbance such as a friction in a cylinder. In this paper, to realize a wearable, low-cost and robust control system, the position control system of the cylinder using a disturbance observer applied into the tiny embedded controller is proposed and tested. The position tracking control using the proposed system is carried out. As a result, it was confirmed that the proposed control scheme achieved 40% improvement of the mean absolute error in experiments.

Original languageEnglish
Pages (from-to)318-321
Number of pages4
JournalInternational Journal of Mechanical Engineering and Robotics Research
Volume6
Issue number4
DOIs
Publication statusPublished - 2017 Jul 1

Keywords

  • Disturbance observer
  • Embedded controller
  • Flexible pneumatic cylinder
  • Position control

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Mechanical Engineering
  • Artificial Intelligence

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