Abstract
A backstepping-based controller is designed to improve positioning speed of a pneumatic servo system by pressure feedback. A least-square method is used to identify parameters for obtaining a relatively accurate proportional valve model. In addition, an extended state observer is designed to estimate total nonlinearities caused by friction and unmodeled dynamics. A backstepping-based controller is proposed to increase convergence speed, and another nonlinear error feedback controller is used to keep positioning accuracy. That is, a multicontroller strategy containing the two controllers is introduced to improve performance of the pneumatic servo system. Finally, experimental results with response time $0.5$ s and accuracy $0.05$ mm indicate the capabilities of the proposed method.
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