Abstract
This study proposes an observer-based linear adaptive control scheme for the position control of a pneumatic actuator system. The proposed controller does not rely on a physical model of the pneumatic actuator system to be controlled; it only needs the position measurement for its implementation, which is really a novelty in the field of such applications. First, based on the implicit function theory, the existence of an ideal position controller is demonstrated. Then, the objective is to construct this unknown ideal position controller using a linear control with a stable adaptation law and an extended observer. This latter is used to estimate both the tracking error vector and an unknown function of the error between the implicit ideal control and the actual control which is used in the adaptation mechanism. The stability of the overall closed-loop system is studied by using singular perturbation theory and Tikhonov's theorem. Finally, real-time experimental results are provided to show the performances of the proposed control scheme.
Published Version
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