Abstract
This paper presents a new controller for the position of a pneumatic actuator. The controller is designed based on the multiple-surface sliding control method in combination with a frictional compensator. The multiple-surface sliding control method is applied to deal with the nonlinear characteristics of the pneumatic system, and the frictional compensator is applied to compensate for the friction force in the pneumatic actuator. The friction force is estimated based on a dynamic friction model (the LuGre model). Both simulation and experimental studies are done to evaluate the new controller. The evaluation results indicate significant improvement in the tracking position error of the new controller comparing to the multiple-surface sliding controller without friction compensation and other nonlinear controllers.
Highlights
Pneumatic systems are widely used in industrial environments because they can provide many advantages, including low cost, high power-to-weight ratio, cleanness, ease of maintenance and replacement, cheap and available supply of air sources [1]
Armstrong-Helouvry [20] has shown that the control performances of a mechanical system can be significantly improved when the system controller is designed with friction compensation
Experimental performances of the new controller and the multiple-surface sliding (MSS) controller are compared to evaluate the effectiveness of the new controller
Summary
Pneumatic systems are widely used in industrial environments because they can provide many advantages, including low cost, high power-to-weight ratio, cleanness, ease of maintenance and replacement, cheap and available supply of air sources [1]. For the sliding mode control method, the first positioning application for pneumatic actuators was made by Paul et al [13], Tang and Walker [14], and Surgenor and Vaughan [15] This robust control method allows handling nonlinearities and compensates for the mismatched uncertainties of the mathematical model. According to the author’s survey, the application of the LuGre friction model combined with the MSS control method for controlling the position of the pneumatic actuators has not been studied. The multiple-surface control method combining with friction compensation based on the LuGre friction model for controlling the position of a pneumatic cylinder is studied.
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