This work deals with the control of pneumatic positioning systems and propose a cascade strategy that alow us to overcome several obstacles to the trajectory tracking in pneumatic systems. The exponential convergence of the closed loop trajectory tracking errors in the ideal case is demonstrated using Lyapunov's method. The robustness properties of the closed loop system are also presented. An experimental implementation attests the effectiveness of this strategy.
Pneumatic drives; cascade control; robotics; feedback linearizations
