TY - GEN
T1 - F & A compensating variable bang-bang control algorithm for pneumatic driving glass-wall cleaning robot
AU - Wang, W.
AU - Zhang, H. X.
AU - Yu, W. P.
AU - Zong, G. H.
AU - Zhang, J. W.
PY - 2007
Y1 - 2007
N2 - To overcome the overshoot and oscillation in the normal Bang-Bang controller applied in the pneumatic driving glass-wall cleaning robot, this paper presents a F&A compensating variable Bang-Bang control algorithm for the pneumatic position servo. Besides a new cylinder driving plan is designed, the control algorithm is also improved by adding a Action force compensating item in the chamber force evaluation equation. To adjust the controlling parameters dynamically, certain increasing functions, such as step function, linear function and arc-tangent function, are used to define the piston's expectative acceleration along with the reduction of the piston's position error. To testify the feasibility of the control algorithms with the above three expectative acceleration setting functions respectively, a pneumatic glass-wall cleaning robot "Sky Cleaner 4" is used as a testing platform to implement a series of on-load position servo experiments. And the different results of them are compared.
AB - To overcome the overshoot and oscillation in the normal Bang-Bang controller applied in the pneumatic driving glass-wall cleaning robot, this paper presents a F&A compensating variable Bang-Bang control algorithm for the pneumatic position servo. Besides a new cylinder driving plan is designed, the control algorithm is also improved by adding a Action force compensating item in the chamber force evaluation equation. To adjust the controlling parameters dynamically, certain increasing functions, such as step function, linear function and arc-tangent function, are used to define the piston's expectative acceleration along with the reduction of the piston's position error. To testify the feasibility of the control algorithms with the above three expectative acceleration setting functions respectively, a pneumatic glass-wall cleaning robot "Sky Cleaner 4" is used as a testing platform to implement a series of on-load position servo experiments. And the different results of them are compared.
UR - https://www.scopus.com/pages/publications/51349092564
U2 - 10.1109/IROS.2007.4398957
DO - 10.1109/IROS.2007.4398957
M3 - 会议稿件
AN - SCOPUS:51349092564
SN - 1424409128
SN - 9781424409129
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 1242
EP - 1247
BT - Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
T2 - 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Y2 - 29 October 2007 through 2 November 2007
ER -