Control for pneumatic actuator systems using feedback linearization with disturbance rejection
- 24 August 2005
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 1, 825-829
- https://doi.org/10.1109/acc.1995.529364
Abstract
Though a pneumatic actuator is widely used in industrial applications, it is not easy to control due to the nonlinearities. We apply a method of feedback linearization for a pneumatic actuator system to handle them. It is shown that any SISO pneumatic system with a linearizable load and an isothermal pneumatic actuator is linearizable by state feedback. A method of feedback linearization with step-type disturbance rejection is proposed by measuring disturbances. Experimental results with a rubber artificial muscle actuator verify the validity of the proposed method.Keywords
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