Abstract
Generally speaking, pneumatic systems have the merit of high power-to-mass ratio. However, the entire system becomes high-order and non-linear due to the compressibility of air and valve dynamics. In this paper, we propose a cascaded feedback control scheme for trajectory tracking of pneumatic drive systems. We mathematically prove that the proposed scheme can effectively reduce trajectory tracking error even though nonlinear dynamics of air compressibility is considered. Through some simulation and experimental results, the trajectory tracking performance is demonstrated.
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