Model-Based Control Design for a Pneumatically Actuated Cartesian Manipulator

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dc.contributor.authorSulska, Lina
dc.contributor.authorSokolov, Oleksandr
dc.contributor.authorAndrusyshyn, Vladyslav
dc.contributor.authorMalaga, Miroslav
dc.contributor.authorRaška, Pavel
dc.contributor.editorMalaga, Miroslav
dc.contributor.editorBroum, Tomáš
dc.date.accessioned2025-11-29T11:13:50Z
dc.date.available2025-11-29T11:13:50Z
dc.date.issued2025
dc.description.abstract-translatedThis work focuses on the control-oriented modelling and simulation of a pneumatically actuated Cartesian manipulator. A structured physical model was developed based on real experimental hardware and implemented using Simulink and Simscape to capture the system's nonlinear dynamic behaviour. Several classical feedback controllers were designed, with gain parameters obtained via automated PID tuning tools. The controllers were evaluated under identical simulation scenarios to assess their influence on tracking performance and dynamic stability. Results indicated that PD control offered the most consistent behaviour, with a favourable trade-off between simplicity and robustness. At the same time, the best results in improved damping and reduced overshoot are achieved with automatic tuning.en
dc.description.sponsorshipThis research was funded by the EU NextGenerationEU through the Recovery and Resilience Plan for Slovakia under projects No. 09I03-03-V03-00075, No. 09I03-03-V02-00042, supported by the Slovak Research and Development Agency under the contract No. APVV-23-0591, and the projects VEGA 1/0061/23 and KEGA 022TUKE-4/2023, granted by the Ministry of Education, Research, Development and Youth of the Slovak Republic.en
dc.format14 s.cs
dc.format.mimetypeapplication/pdf
dc.identifier.doihttps://doi.org/10.24132/PI.2025.13287.066-079
dc.identifier.isbn978-80-261-1328-7
dc.identifier.urihttp://hdl.handle.net/11025/64168
dc.publisherZápadočeská univerzita v Plznics
dc.rights© autoři © Západočeská univerzita v Plznics
dc.subjectpneumaticky ovládaný Kartézský manipulátorcs
dc.subjectmodelování orientované na řízenícs
dc.subjectsimulacecs
dc.subject.translatedpneumatically actuated Cartesian manipulatoren
dc.subject.translatedcontrol-oriented modellingen
dc.subject.translatedsimulationen
dc.titleModel-Based Control Design for a Pneumatically Actuated Cartesian Manipulatoren
dc.typekonferenční příspěvekcs
dc.typeconferenceObjecten
dc.type.statusPeer revieweden
dc.type.versionpublishedVersionen
local.files.count2*
local.files.size1725640*
local.has.filesyes*

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