Interaction motion on pneumatic cylinder using prescribed performance force tracking impedance control
Pneumatic system has gained popularity in robotics and industrial automation technology especially in developing a cost-effective and highspeed robot/machine with low maintenance. However, control in such systems is very challenging especially that involved compliant and interaction behavior between...
| Main Authors: | , , |
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| Format: | Conference or Workshop Item |
| Language: | English |
| Published: |
IEEE
2020
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| Subjects: | |
| Online Access: | http://umpir.ump.edu.my/id/eprint/44124/ http://umpir.ump.edu.my/id/eprint/44124/1/Interaction_Motion_on_Pneumatic_Cylinder_using_Prescribed_Performance_Force_Tracking_Impedance_Control.pdf |
| _version_ | 1848827037070917632 |
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| author | Addie Irawan, Hashim Mohd Iskandar Putra, Azahar Zool Hilmi, Ismail |
| author_facet | Addie Irawan, Hashim Mohd Iskandar Putra, Azahar Zool Hilmi, Ismail |
| author_sort | Addie Irawan, Hashim |
| building | UMP Institutional Repository |
| collection | Online Access |
| description | Pneumatic system has gained popularity in robotics and industrial automation technology especially in developing a cost-effective and highspeed robot/machine with low maintenance. However, control in such systems is very challenging especially that involved compliant and interaction behavior between the system and unknown environment. Therefore, this study has taken initiative to overcome the nonlinearity and uncertainties of pneumatic actuator in interaction of motion by proposed an accurate impedance control with prescribe performance function. The finite-time in prescribe performance is formulated to improve the force tracking between the desired impedance and unknown environment. The comparison study between proposed impedance control with finite-time prescribe performance force tracking shows almost zero steady-state-error, no oscillation at the first contact with environment, stable pressure in chamber and low energy consumption in terms of control input on valve. |
| first_indexed | 2025-11-15T03:54:20Z |
| format | Conference or Workshop Item |
| id | ump-44124 |
| institution | Universiti Malaysia Pahang |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-15T03:54:20Z |
| publishDate | 2020 |
| publisher | IEEE |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | ump-441242025-03-19T01:10:30Z http://umpir.ump.edu.my/id/eprint/44124/ Interaction motion on pneumatic cylinder using prescribed performance force tracking impedance control Addie Irawan, Hashim Mohd Iskandar Putra, Azahar Zool Hilmi, Ismail TC Hydraulic engineering. Ocean engineering TK Electrical engineering. Electronics Nuclear engineering Pneumatic system has gained popularity in robotics and industrial automation technology especially in developing a cost-effective and highspeed robot/machine with low maintenance. However, control in such systems is very challenging especially that involved compliant and interaction behavior between the system and unknown environment. Therefore, this study has taken initiative to overcome the nonlinearity and uncertainties of pneumatic actuator in interaction of motion by proposed an accurate impedance control with prescribe performance function. The finite-time in prescribe performance is formulated to improve the force tracking between the desired impedance and unknown environment. The comparison study between proposed impedance control with finite-time prescribe performance force tracking shows almost zero steady-state-error, no oscillation at the first contact with environment, stable pressure in chamber and low energy consumption in terms of control input on valve. IEEE 2020-11-06 Conference or Workshop Item PeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/44124/1/Interaction_Motion_on_Pneumatic_Cylinder_using_Prescribed_Performance_Force_Tracking_Impedance_Control.pdf Addie Irawan, Hashim and Mohd Iskandar Putra, Azahar and Zool Hilmi, Ismail (2020) Interaction motion on pneumatic cylinder using prescribed performance force tracking impedance control. In: 2020 8th International Conference on Control, Mechatronics and Automation, ICCMA 2020 , 06 - 08 November 2020 , Moscow, Russia. pp. 121-126.. ISBN 978-1-7281-9210-9 (Published) https://doi.org/10.1109/ICCMA51325.2020.9301501 |
| spellingShingle | TC Hydraulic engineering. Ocean engineering TK Electrical engineering. Electronics Nuclear engineering Addie Irawan, Hashim Mohd Iskandar Putra, Azahar Zool Hilmi, Ismail Interaction motion on pneumatic cylinder using prescribed performance force tracking impedance control |
| title | Interaction motion on pneumatic cylinder using prescribed performance force tracking impedance control |
| title_full | Interaction motion on pneumatic cylinder using prescribed performance force tracking impedance control |
| title_fullStr | Interaction motion on pneumatic cylinder using prescribed performance force tracking impedance control |
| title_full_unstemmed | Interaction motion on pneumatic cylinder using prescribed performance force tracking impedance control |
| title_short | Interaction motion on pneumatic cylinder using prescribed performance force tracking impedance control |
| title_sort | interaction motion on pneumatic cylinder using prescribed performance force tracking impedance control |
| topic | TC Hydraulic engineering. Ocean engineering TK Electrical engineering. Electronics Nuclear engineering |
| url | http://umpir.ump.edu.my/id/eprint/44124/ http://umpir.ump.edu.my/id/eprint/44124/ http://umpir.ump.edu.my/id/eprint/44124/1/Interaction_Motion_on_Pneumatic_Cylinder_using_Prescribed_Performance_Force_Tracking_Impedance_Control.pdf |