Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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Trajectory Tracking Control of a Pnuematic Cylinder with an Adaptive Controller

적응제어기에 의한 공기압 실린더의 궤적추적 제어

  • 이수한 (울산대학교 기계공학부) ;
  • 조호성 (현대중공업 조선사업부 의장설계3부) ;
  • 장창훈 (울산과학대학 기계과)
  • Published : 2000.10.01
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Abstract

An adaptive controller for trajectory tracking control of a pneumatic cylinder is proposed. The controller is directly derived by using Lyapunov function, and very simple and computationally efficient since it does not require the mathematical model or the parameter values of a pneumatic system. It is also shown that the system is bounded stable with the controller, and the size of tracking errors can be made arbitrarily small. The stability and the performance of the controller is also verified experimentally. The results of the experiments demonstrate that the proposed controller achieves more accurate trajectory tracking performance than a PD controller.

Keywords

References

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