Control design for a pneumatically actuated parallel link manipulator

K. S. Grewal; R. Dixon; J. Pearson

doi:10.1109/ICSEng.2011.16

Control design for a pneumatically actuated parallel link manipulator

K. S. Grewal^*, R. Dixon, J. Pearson

^*Corresponding author for this work

Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

10 Citations (Scopus)

Abstract

This paper is concerned with the practical application of control to a pneumatically actuated Stewart-Gough platform with 6 Degrees of Freedom (DOF). Two control approaches for motion control of the platform are presented using a classical control technique and a modern control technique. The control schemes experimental results are compared showing that either approach is suitable but with LQG giving slightly better performance.

Original language	English
Title of host publication	Proceedings - ICSEng 2011
Subtitle of host publication	International Conference on Systems Engineering
Pages	43-48
Number of pages	6
DOIs	https://doi.org/10.1109/ICSEng.2011.16
Publication status	Published - 4 Nov 2011
Event	21st International Conference on Systems Engineering, ICSEng 2011 - Las Vegas, United States Duration: 16 Aug 2011 → 18 Aug 2011

Conference

Conference	21st International Conference on Systems Engineering, ICSEng 2011
Country/Territory	United States
City	Las Vegas
Period	16/08/11 → 18/08/11

Keywords

LQG control
Modeling
PI control
pneumatic
real-time
Stewart-Gough platform

ASJC Scopus subject areas

Control and Systems Engineering

Access to Document

10.1109/ICSEng.2011.16

Cite this

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title = "Control design for a pneumatically actuated parallel link manipulator",

abstract = "This paper is concerned with the practical application of control to a pneumatically actuated Stewart-Gough platform with 6 Degrees of Freedom (DOF). Two control approaches for motion control of the platform are presented using a classical control technique and a modern control technique. The control schemes experimental results are compared showing that either approach is suitable but with LQG giving slightly better performance.",

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AU - Grewal, K. S.

AU - Dixon, R.

AU - Pearson, J.

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N2 - This paper is concerned with the practical application of control to a pneumatically actuated Stewart-Gough platform with 6 Degrees of Freedom (DOF). Two control approaches for motion control of the platform are presented using a classical control technique and a modern control technique. The control schemes experimental results are compared showing that either approach is suitable but with LQG giving slightly better performance.

AB - This paper is concerned with the practical application of control to a pneumatically actuated Stewart-Gough platform with 6 Degrees of Freedom (DOF). Two control approaches for motion control of the platform are presented using a classical control technique and a modern control technique. The control schemes experimental results are compared showing that either approach is suitable but with LQG giving slightly better performance.

KW - LQG control

KW - Modeling

KW - PI control

KW - pneumatic

KW - real-time

KW - Stewart-Gough platform

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M3 - Conference contribution

AN - SCOPUS:80055119271

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BT - Proceedings - ICSEng 2011

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Y2 - 16 August 2011 through 18 August 2011

ER -

Control design for a pneumatically actuated parallel link manipulator

Abstract

Conference

Keywords

ASJC Scopus subject areas

Access to Document

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Cite this