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Compensator-based Position Control of an Electrorheological Actuator by Z.B. Dlodlo; D.J. Brookfield is a Engineering article available to read on EtoBox.

What is Compensator-based Position Control of an Electrorheological Actuator about?

This paper addresses the question of whether compensator-based controllers can be used to successfully control the position of a model scale robot arm attached to the output shaft of an electrorheological (ER) actuator, with a view of recommending the actuator for robotic applications and providing an alternative control strategy to proportional plus integral plus derivative, (PID), control. An ER actuator is a device that uses a `smart' material, called an ER ̄uid or suspension, as a coupling medium between the prime mover running at a constant speed and a load. Three compensator-based controllersÐthe phaselag, the phase-lead and lead-lag compensatorsÐwere designed and implemented on the ER actuator-arm system. The phase-lead and phase-lag compensators gave reasonable performance. The lead-lag compensator, on the other hand, was impossible to implement.

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Author

Z.B. Dlodlo; D.J. Brookfield

Publisher

Elsevier Science; Elsevier ; Elsevier Ltd.; Elsevier BV (ISSN 0957-4158)

Published

1999

Language

EN

Field

Engineering (Physical Sciences)