The goal of this paper is to attain a robust positioning control of pneumatic driving system. A positioning control system positively focusing on the pressure control is investigated, from the view that the pressure control is indispensable for improvement '7f control performances. A disturbance observer is employed to improve the pressure response and compensate the influence of fnction force ...

A pneumatic system that transmits power via the force of compressed air is an essential component air-driven soft robot. Pneumatic valves are one key parts this system. However, development or electronics-free for robotic applications in its infancy, with only a few 2/2 way developed. Previous research has shown demands complex can regulate airflow multiple channels switching pressure within ch...

For robotic systems that use on/off (solenoid) pneumatic actuators, a sliding mode control law for precise position control and low switching (open-close) activity of the valves is presented in this paper. Given a pneumatic actuator with two chambers and four solenoid valves, there are sixteen possible input combinations defined directly from the state of the four on/off valves present in the s...

A novel Modified PID (MPID) controller is developed to control and minimize the effect of hysteresis in Pneumatic proportional valves. It consists of four parts: a Proportional-Integral-Derivative (PID) controller, a Feedforward term, an Anti-Windup mechanism, and a Bang-Bang controller. The result is a unique Modified PID (MPID) control scheme that demonstrates better command following and dis...

In this paper, a wavelet-based iterative learning control (WILC) scheme with Fuzzy PD feedback is presented for a pneumatic control system with nonsmooth nonlinearities and uncertain parameters. The wavelet transform is employed to extract the learnable dynamics from measured output signal before it can be used to update the control profile. The wavelet transform is adopted to decompose the ori...