Decoupling control for a multi-DOF pneumatic manipulator subject to imbalanced torques

• Published in: Nonlinear dynamics Vol. 112; no. 5; pp. 3541 - 3556
• Main Authors: Zhao, Ling, Chen, Huaidong, Li, Zhuojun
• Format: Journal Article
• Language: English
• Published: Dordrecht Springer Netherlands 01.03.2024; Springer Nature B.V
• Subjects: Automotive Engineering; Classical Mechanics; Compressed air; Control; Control systems design; Controllers; Couplings; Decoupling; Degrees of freedom; Dynamical Systems; Effectiveness; Engineering; Error feedback; Feedback control; Kinematics; Manipulators; Mechanical Engineering; Motion control; Original Paper; Robot arms; State observers; Torque; Vibration; Decoupling control; Multi-DOF pneumatic manipulator; Nonlinear extended state observer; Imbalanced torques; Kinematic analysis
• ISSN: 0924-090X; 1573-269X
• DOI: 10.1007/s11071-023-09244-6

In this paper, a decoupling control strategy is presented for a multi-degree of freedom (DOF) pneumatic manipulator with imbalanced torques. Considering the gravity of the multi-DOF pneumatic manipulator, there exist imbalanced torques for the multi-DOF pneumatic manipulator in the functioning process. A decoupling nonlinear extended state observer (ESO) is used to estimate imbalanced torques and decoupling errors. A nonlinear decoupling error feedback controller is designed to decouple input and state couplings caused by mechanical structure for the multi-DOF pneumatic manipulator. Both effectiveness of the decoupling nonlinear ESO and close-loop stability of the multi-DOF pneumatic manipulator are verified by Lyapunov approaches. The comparative experiment results are given to show the effectiveness of the proposed control strategy for the multi-DOF pneumatic manipulator.