This paper describes the modeling and control of a proportional-injector direct-injection monopropellant-powered actuator for use in power-autonomous human-scale mobile robots. The development and use of proportional (as opposed to solenoid) injection valves enables a continuous and unified input/output description of the device, and therefore enables the development and implementation of a sliding-mode-type controller for the force control of the proposed actuator, which provides the stability guarantees characteristic of a sliding-mode control approach. Specifically, a three-input, single-output model of the actuation system behavior is developed, which takes a nonlinear non-control-canonical form. In order to implement a nonlinear controller, a constraint structure is developed that effectively renders the system single input, single output, and control canonical, and, thus, of appropriate form for the implementation of a sliding-mode controller. A sliding-mode controller is then developed and experimentally implemented on the proposed actuator. Experimental results demonstrate closed-loop force tracking with a saturation-limited bandwidth of approximately .
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March 2006
Technical Briefs
A Unified Force Controller for a Proportional-Injector Direct-Injection Monopropellant-Powered Actuator
Kevin B. Fite,
Kevin B. Fite
Department of Mechanical Engineering,
Vanderbilt University
, Nashville, TN 37235
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Jason E. Mitchell,
Jason E. Mitchell
Department of Mechanical Engineering,
Vanderbilt University
, Nashville, TN 37235
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Eric J. Barth,
Eric J. Barth
Department of Mechanical Engineering,
Vanderbilt University
, Nashville, TN 37235
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Michael Goldfarb
Michael Goldfarb
Department of Mechanical Engineering,
Vanderbilt University
, Nashville, TN 37235
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Kevin B. Fite
Department of Mechanical Engineering,
Vanderbilt University
, Nashville, TN 37235
Jason E. Mitchell
Department of Mechanical Engineering,
Vanderbilt University
, Nashville, TN 37235
Eric J. Barth
Department of Mechanical Engineering,
Vanderbilt University
, Nashville, TN 37235
Michael Goldfarb
Department of Mechanical Engineering,
Vanderbilt University
, Nashville, TN 37235J. Dyn. Sys., Meas., Control. Mar 2006, 128(1): 159-164 (6 pages)
Published Online: November 14, 2005
Article history
Received:
February 3, 2005
Revised:
November 14, 2005
Citation
Fite, K. B., Mitchell, J. E., Barth, E. J., and Goldfarb, M. (November 14, 2005). "A Unified Force Controller for a Proportional-Injector Direct-Injection Monopropellant-Powered Actuator." ASME. J. Dyn. Sys., Meas., Control. March 2006; 128(1): 159–164. https://doi.org/10.1115/1.2168473
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