This paper presents a novel control design, developed to realise fast and accurate position control of a pneumatic actuator using inexpensive on/off solenoid valves. In contrast to conventional control methods, the proposed control method operates chatter free, based on air compression. The control principle was developed by investigating the dynamics of a pneumatic actuator with an identified ...

This paper reports on the design of a biorobotic actuator. Biological requirements are developed from published reports in the muscle physiology literature whose parameters are extracted and applied in the form of the Hill muscle model. Data from several vertebrate species (rat, frog, cat, and human) are used to evaluate the performance of a McKibben pneumatic actuator. The experimental results...

in this study, a new adaptive controller is proposed for position control of pneumatic systems. difficulties associated with the mathematical model of the system in addition to the instability caused by pulse width modulation (pwm) in the learning-based controllers using gradient descent, motivate the development of a new approach for pwm pneumatics. in this study, two modified feedback error l...

This paper presents a rigorous analysis and design method for PWM-based control of pneumatic systems. An equivalent analytical model incorporating the effects of a finite PWM switching period is formulated. This equivalent model was motivated by a lack of control design and analysis techniques needed to treat the inherently non-analytical switching models associated with PWM-based systems. The ...

In this paper, we model, analyze, and control an experimental set-up of a servo pneumatic cylinder. The dynamic behaviour of pneumatic actuator systems is dominant by nonlinear functions. First, a mathematical model for the pneumatic system is derived. Secondly, we investigate the mathematical properties of this model and show boundedness and positiveness of certain variables. Thirdly, we prove...

paper deals with accurate positioning of pneumatic actuator using solenoid controller to development a fast, accurate, and inexpensive position-controlled that may be applied to a variety of practical positioning applications are described. A Pulse Width Modulation PWM valve pulsing algorithm to allow the on/off solenoid valves to use in the place of costly servo valve. The open-loop characteri...

Abstract—The utilization of pneumatic muscles in the actuation of industrial systems is still in its early stages, hence studies on the constructive solutions which include an assessment of their functional performance with a focus on one of the most important characteristics-energy efficiency are required. A quality indicator that adequately reflects the energy efficiency of an actuator is the...