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About Dissertation Zhu
This dissertation presents control methods for pneumatic systems with uncertainties. It proposes a model reference adaptive control approach for accurate position control of pneumatic actuators using friction compensation. It also develops a passivity-based approach for impact and force control of a pneumatic actuator to achieve stable contact tasks. Additionally, it presents an energetic control methodology to achieve stable hopping behavior of a pneumatic hopping robot by controlling its potential and kinetic energies. The dissertation contributes adaptive control solutions for accurate position control of pneumatic actuators and passivity-based approaches for stable force control and physical interaction of pneumatic systems.
Detailed Information
| Author: | ['phankhoa83'] |
|---|---|
| Publication Year: | 2015 |
| Pages: | 160 |
| Language: | English |
| Format: | |
| Price: | FREE |
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