首页|Extended state observer-based pressure control for pneumatic actuator servo systems
Extended state observer-based pressure control for pneumatic actuator servo systems
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A pneumatic actuator is a fast and economical tool that converts compressed air into mechanical motion.In this paper,an extended state observer(ESO)-based sliding mode controller(SMC)is developed to adjust the air pressure of the actua-tor for accurate position control.Specifically,an impedance control module is established to produce desired air pressure based on the relationship between forces and desired positions.Then,the ESO-based SMC is implemented to adjust the air pressure to the required level despite the presence of system uncertainties and disturbances.As a result,the position of the actuator is controlled to a setpoint through the regulation of pressure.The performance of ESO-based SMC is compared with that of a classic active disturbance rejection controller(ADRC)and a SMC.Simulation results demonstrate that the ESO-based SMC shows comparable performance to ADRC in terms of precise pressure control.In addition,it requires the least control effort necessary to excite valves among the three controllers.The stability of ESO-based SMC is theoretically justified through Lyapunov approach.
Pneumatic actuatorPressure controlESO-based SMCADRCImpedance control moduleStability proofLyapunov approach
John Mohorcic、Lili Dong
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Delta Systems Inc.,Streetsboro,OH 44241,USA
Department of Electrical Engineering and Computer Science,Cleveland State University,Cleveland,OH 44115,USA
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