Nonlinear Control and State Estimation for the Hand Axes of a Pneumatic Robot

Seyed Houman Mirafzal

2024

Abstract

This paper presents a nonlinear control for the hand axes of a robot with three pneumatic muscles. A vectorbased approach is employed for the modeling. Due to the structure of the system, a flatness-based control method is chosen and used. A control system is designed in which three types of compensators, including feedback, feedforward, and observer (estimator) are used to improve the trajectory tracking of the main joint angles and the muscle force control. The Kalman Filter is used to estimate the disturbance friction torque in the system. Through a combination of theoretical analysis and experimental validation, the proposed methods demonstrate significant improvements in control accuracy and system stability. As a result, the control system tracks the desired trajectories very well, as various trajectories are implemented to test the tracking behavior of the control system.

Paper Citation

in Harvard Style

Mirafzal S. (2024). Nonlinear Control and State Estimation for the Hand Axes of a Pneumatic Robot. In Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-989-758-717-7, SciTePress, pages 236-247. DOI: 10.5220/0013006500003822

in Bibtex Style

@conference{icinco24,
author={Seyed Houman Mirafzal},
title={Nonlinear Control and State Estimation for the Hand Axes of a Pneumatic Robot},
booktitle={Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2024},
pages={236-247},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0013006500003822},
isbn={978-989-758-717-7},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - Nonlinear Control and State Estimation for the Hand Axes of a Pneumatic Robot
SN - 978-989-758-717-7
AU - Mirafzal S.
PY - 2024
SP - 236
EP - 247
DO - 10.5220/0013006500003822
PB - SciTePress