Comparison between three control strategy applied to an electro-pneumatic 3-DOF platform

摘要

In this paper are shown and compared two control strategies applied to a parallel robot of three degrees of freedom derived by electro-pneumatic actuators with proportional flow valves. Robust control is implemented with a classical PI control with a second-order compensator filter; this is a good position and tracking controller but is not a safety control in terms of human interaction. Meanwhile, a proxy-based sliding mode control is implemented combining the advantages of sliding mode control and proportional integral derivative control. All the results are obtaining in co-simulation between Adams and Matlab and in a real platform.