Nonlinear Control of A 3-DOF Robotic Arm Driven by Electro-pneumatic Servo Systems

Abstract

The paper proposes an effective control approach to a 3-DOF serial robotic arm actuated by electro-pneumatic servo systems (EPSS). The robot control problem is divided into robot dynamics and pneumatic actuators sub-systems, and the control is subsequently elaborated for each sub-system. The challenging task arises when dealing with pneumatic systems where system parametric information is very difficult to acquired correctly. Hence, the Lyapunov based control is formulated to derive the control signal in presence of system disturbances and system uncertainties thank to the integrated disturbance observer. The closed-loop system stability is analytically proven through a series of Lyapunov candidate functions. Co-simulations based on Matlab/Multibody and Solidwork are carried out to demonstrate the control validity.