Parameterized State Feedback Control applied to the 1st degree of freedom of a cylindric pneumatic robot

EasyChair Preprint 2937

Abstract

This paper addresses a gain-schedule trajectory controller applied to the first degree of freedom of a pneumatic five-degree cylindrical robot. The proposed control law is based on pole placement and state feedback techniques associ-ated with a continuous gain-schedule scheme. Its gains are parameterized with respect to the trajectory-dependent mass moment of inertia of the ma-nipulator with relation to its rotation axis. Therefore, the value of the equiv-alent translational inertia to be moved by the first degree of freedom actuator is calculated on line and used to update the gain set of the controller. As consequence, the poles of the closed-loop system remain unaltered, which results in small performance losses due to payload variations. Performance enhancement is verified by means of experimental results of position trajec-tory errors for the controlled system considering invariant and variable equivalent mass applied to the 1st DOF.

Keyphrases: Gain Schedule, Penumatic robotic manipulator, state feedback control

@booklet{EasyChair:2937,
  author    = {Marcos Rijo and Eduardo Perondi and Mário Sobczyk and Carlos A. C. Sarmanho Jr.},
  title     = {Parameterized State Feedback Control applied to the 1st degree of freedom of a cylindric pneumatic robot},
  howpublished = {EasyChair Preprint 2937},
  year      = {EasyChair, 2020}}