A robust nonlinear controller design for a pneumatic actuator

ACARMAN T., Hatipoǧlu C., Özgüner U.

2001 American Control Conference, Arlington, VA, Amerika Birleşik Devletleri, 25 - 27 Haziran 2001, cilt.6, ss.4490-4495 identifier

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Cilt numarası: 6
  • Doi Numarası: 10.1109/acc.2001.945686
  • Basıldığı Şehir: Arlington, VA
  • Basıldığı Ülke: Amerika Birleşik Devletleri
  • Sayfa Sayıları: ss.4490-4495
  • Galatasaray Üniversitesi Adresli: Evet

Özet

This paper presents a feedback linearization based variable structure controller for a pneumatically actuated system utilizing sliding mode observers. Using the robustness implications of the sliding mode control theory and the structural properties of pneumatically actuated systems, a nonlinear controller is designed to drive the output tracking error to zero in finite time. Strong robustness with respect to bounded modeling and parameter uncertainties is attained through compensation of the friction effect of the piston in the cylinder body. The controller and the observer are based on a third-order nonlinear state-space model of a pneumatic system which was developed, validated numerically with experimental data and presented in another paper, [6]. Simulation results are included to demonstrate the effectiveness of the designed observer and the good performance of the designed tracking controller.