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- W2316233494 abstract "Pneumatic motors have not so far been well-studied in the robotics literature, despite their many advantages. In this paper, we develop a nonlinear, time-variant model of the dynamics of a vane-type pneumatic motor for purposes of controller design. We develop two models: one considers the pressure dynamic of supply ports only (Approximate model) and the other considers pressure dynamics of all chambers (Precise model). It is shown that unlike in the case of pneumatic cylinders-which have been studied extensively-the dynamics of both pressure variations and mechanical dynamics are complex. We apply sliding mode controller design using pressure difference in place of acceleration for motion control of the actuator. We compare control performance of the sliding mode controller using the two models. As a result, it is revealed that both the models are precise, and robust to payload variations, but the approximate model is simpler to implement. Results of experimental implementation illustrate the effectiveness of the proposed sliding mode controller." @default.
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- W2316233494 date "2000-01-01" @default.
- W2316233494 modified "2023-09-25" @default.
- W2316233494 title "Modeling and Sliding Mode Control of a Vane-type Pneumatic Motor." @default.
- W2316233494 doi "https://doi.org/10.1299/kikaic.66.3939" @default.
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