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This paper considers the issue of nonlinear friction effect on frequency identification. Without loss of generality, a mass-spring-damping system with nonlinear Coulomb friction is adopted to examine the mechanism of this nonlinear distortion. Based on the describing function (DF) analysis method, the gain reduction and phase lead-lag phenomena seen in actual frequency identification are examined...
In the pneumatic synchronization system based on separate control of meter-in and meter-out, both motion trajectory and pressure trajectory could be tracked in a single pneumatic cylinder and then the cylinder could be controlled completely without internal dynamics. In this paper, an adaptive robust pressure controller is used to keep the pressure level in chamber of cylinder on an even keel when...
An integrated direct/indirect adaptive robust controller (DIARC) is proposed to further improve the achievable posture trajectory tracking control performance of a parallel manipulator driven by pneumatic muscles. Due to the model errors of the static forces and friction forces of pneumatic muscles, the simplified average flow rate characteristics of valves, and the unknown disturbances of entire...
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