Output feedback motion control of pneumatic servo systems with desired compensation approach
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(2020) 42:272
TECHNICAL PAPER
Output feedback motion control of pneumatic servo systems with desired compensation approach Weiping Wang1,2 · Deyuan Meng2 Received: 7 September 2019 / Accepted: 21 April 2020 © The Brazilian Society of Mechanical Sciences and Engineering 2020
Abstract In this study, an output feedback control strategy for the pneumatic asymmetric cylinder is established by integrating a robust controller with the proposed desired compensation adaptive law and extended sliding mode observer (ESMO). Specifically, in order to attenuate the parametric uncertainties, a desired compensation indirect-type estimation method, based on physical model and desired system states, is designed to achieve estimates of model parameters, and the parameter estimation error can be regarded as part of the lumped uncertainties. Since only displacement signal is available, both the unmeasured system states and lumped uncertainties are estimated by the proposed ESMO, and the global stability is guaranteed by the presented robust control law. As a result, structured (i.e., parametric uncertainties) and unstructured (i.e., lumped uncertainties such as unmodeled dynamics, external disturbance and parameter estimation error) uncertainties can be handled and compensated, respectively, in one controller. The comparative experimental results indicate that the prescribed tracking trajectory can be achieved by the proposed controller in the presence of time-varying uncertainties. Keywords Output feedback · Pneumatic actuators · Desired compensation adaptive law · Extended sliding mode observer
1 Introduction Pneumatic servo systems have been verified as a promising choice for numerous applications due to their characteristics such as cleanness, easy to be implemented and high powerto-weight ratio. Nevertheless, the dynamics of pneumatic servo systems are highly nonlinear due to the existence of severe parametric uncertainties and uncertain nonlinearities, which may degrade the output performance of the pneumatic servo systems [1, 2]. In order to improve the achievable performance of the pneumatic servo systems, numerous controllers have been investigated in recent years. Generally, the research efforts Technical Editor: Adriano Almeida Gonçalves Siqueira. * Weiping Wang [email protected] Deyuan Meng [email protected] 1
School of Mechatronic Engineering, Jiangsu Normal University, Xuzhou 221116, China
School of Mechatronic Engineering, China University of Mining and Technology, Xuzhou 221116, China
2
on the pneumatic servo systems can be divided into two aspects. One is based on the modification of the conventional linear controllers such as friction compensation-based linear controller, proportional–integral–derivative gain scheduling techniques and intelligent control-based controller [3–5]. To further enhance the achievable performance, another research effort has paid attention to the model-based nonlinear control strategies such as self-tuning control, model reference adaptive control, disturbance
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