Finite-Time Composite Position Control for a Disturbed Pneumatic Servo System

Abstract

This paper investigates the finite-time position tracking control problem of pneumatic servo systems subject to hard nonlinearities and various disturbances. A finite-time disturbance observer is firstly designed, which guarantees that the disturbances can be accurately estimated in a finite time. Then, by combining disturbances compensation and state feedback controller together, a nonsmooth composite controller is developed based on sliding mode control approach and homogeneous theory. It is proved that the tracking errors under the proposed composite control approach can be stabilized to zero in finite time. Moreover, compared with pure state feedback control, the proposed composite control scheme offers a faster convergence rate and a better disturbance rejection property. Finally, numerical simulations illustrate the effectiveness of the proposed control scheme.

Optimal preview control design of pneumatic servo system: a comparative analysis

“…Simple control approaches have been investigated, such as proportional-integral-derivative (PID) control or position velocity acceleration (PVA) control (Hoshino and Kawabuchi, 2006;Wait and Goldfarb, 2010), but even well-tuned controllers of this form rarely achieve the tracking or robustness possible with more advanced controllers. More advanced controllers have been designed for position tracking, such as fuzzy state feedback (Schulte and Hahn, 2004), impedance control (Zhu and Barth, 2005), neural networks (Carneiro and de Almeida, 2006;Robinson et al, 2016), adaptive control (Chiang et al, 2005;Ren and Fan, 2016), robust control (Mohd Noor et al, 2011), h-infinity control (Kaur and Ohri, 2014) and sliding mode controllers (Bone and Ning, 2007;Sean et al, 2015) and recent study for position tracking is given in (Wang et al, 2016;Lin, 2017). But one basic disadvantage of the pneumatic actuators is the time delay associated mainly with the operation of the control valve which regulates the force.…”

A Novel Real-Time Path Servo Control of a Hardware-in-the-Loop for a Large-Stroke Asymmetric Rod-Less Pneumatic System under Variable Loads

“…Compared with [ 19 , 20 ] which proposed mathematical modeling and control for pneumatic system simulations, the main aims of the present study is to implement and develop a hardware-in-the-loop system of a large-stroke asymmetric pneumatic servo system by incorporating sensing components for real-time positioning tracking servo control under variable loadings. A MATLAB Simulink real-time environment was successfully employed to set up the hardware-in-the-loop system for the closed-loop real-time path tracking servo control.…”