This paperproposes an energy saving approach io the control ofpneumaiic servo systems. The control meihodology is presenied, followed by experimental results ihai indicate significani energetic savings and esseniially no compromise in tracking performance relative to a purely active approach. Speci$cally, experiments indicaie an energv savings of 10 to 46% (depending on the desired tracking fre...

Mechatronics is the art of directing the advances of a variety of academic and engineering areas to solve the smart machine problems. Author Supervisor Summary Title Language Keywords Document type Date www.md.kth.se This thesis treats block-oriented modelling, approximate linearization and control of a nonlinear pneumatic actuator system. The definition of the block-oriented nonlinear model is...

The inherent compliance, high power-density, and musclelike properties of soft actuators are especially attractive and useful in many applications, including robotics. In comparison to classical/modern control approaches, model-based control techniques, e.g., sliding mode control (SMC), applied to flexible fluidic actuators (FFAs) offer significant performance advantages and are considered to b...