A Sliding Mode Fuzzy Force Tracking Controller for Pneumatic Cylinders

Abstract

The problem of control of force exerted by pneumatic cylinders on the environment is of interest in industrial automation and systems such as legged robots. In this paper, a sliding mode fuzzy force control algorithm is proposed for pneumatic cylinders. The environment is assumed to be "soft" or compliant and modeled as a spring. The advantage of the new controller is that being based on fuzzy logic, knowledge of the cylinder dynamics or disturbances such as friction is not necessary. The control law implementation is based explicitly on contact force measurements. The proposed algorithm is simple, robust, and easy to implement. Results of experimental implementation are presented to illustrate the practical effectiveness of the new method.

Review on Modeling and Controller Design in Pneumatic Actuator Control System

“…The dynamic of the loads was derived based on Newton's second law. The piston-rod-load assembly dynamic equilibrium of motion was represented as [4,[12][13][14][15][16]:…”

“…Instead on adiabatic flow in equation ( 3), the pressure dynamic was expressed based on thermal characteristics of adiabatic and isothermal as [12][13][14][15]19]:…”

“…Some classical control was investigated such as Proportional-Integral-Derivative (PID) controller by [26][27][33][34]. Besides, there are also some reports on the advanced control such as sliding mode controller (SMC) [15,[35][36][37],…”

“…Some classical control was investigated such as Proportional-Integral-Derivative (PID) controller by[26][27][33][34]. Besides, there are also some reports on the advanced control such as sliding mode controller (SMC)[15,[35][36][37], adaptive controller[11,38] and a combination of controller[39][40][41].a. PID Controller A combination of conventional controller with friction compensation and with another controller method was investigated by several researchers.…”

Design of a tracking controller of a siso system of pneumatic servopositioning

“…Some classical control approaches were investigated, such as Proportional-Integral-Derivative (PID) controllers by [11], [12]. Besides, reports exist on advanced control, such as Sliding Mode Controller (SMC) [13], [14], adaptive controller [15] and a combination of controllers [16], [17].…”