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Direct Adaptive Control for Trajectory Tracking Control of a Pneumatic Cylinder
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 Title & Authors
Direct Adaptive Control for Trajectory Tracking Control of a Pneumatic Cylinder
Lee, Su-Han; Jang, Chang-Hun;
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 Abstract
This study presents a direct adaptive controller which is derived by using Lyapunovs direct methods for trajectory tracking control of a pneumatic cylinder. The structure of the controller is very simple and computationally efficient because it does not use either the dynamic model or the parameter values of the pneumatic system. The bounded stability of the system is shown in the presence of the bounded unmodeled dynamics. The bounded size of tracking errors can be made arbitrarily small without giving andy influences on either input or output variables. The trajectory tracking performance and the stability of the control system is verified experimentally. The results of the experiments show that the proposed controller tracks the given trajectories, sine function and cycloidal function trajectories, more accurately than PD controller does, and it stabilizes the system and adaptive variables.
 Keywords
Direct Adaptive Control;Lyapunovs Direct Method;Stability;Trajectory Tracking;Pneumatic Cylinder;
 Language
Korean
 Cited by
1.
비선형 보상기와 외란관측기를 이용한 공기압 실리더의 위치제어,장지성;

대한기계학회논문집A, 2002. vol.26. 9, pp.1795-1805 crossref(new window)
2.
마찰력 보상을 고려한 공기압 실린더의 위치제어,김도태;장중걸;

드라이브 ㆍ 컨트롤, 2013. vol.10. 1, pp.1-6 crossref(new window)
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