High-Order Sliding-Mode Controllers of an Electropneumatic Actuator: Application to an Aeronautic Benchmark

Girin, Alexis; Plestan, Franck; Brun, Xavier; Glumineau, Alain

doi:10.1109/tcst.2008.2002950

Cited by 88 publications

(57 citation statements)

References 37 publications

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“…However, they suffer from common drawbacks including friction and sensitivity of the actuator dynamics to load and piston position along the cylinder stroke [8]. Also, from a control perspective, controlling a pneumatic actuator is a challenge because the system dynamics are highly nonlinear [9].…”

Section: Introductionmentioning

confidence: 99%

“…A low-cost alternative to a servovalve is the on/off solenoid valve, which has as a result found widespread applications. Controllers to compensate for the nonlinearities of servovalve pneumatic systems have been reported [8], [9], [11], [12]. The difficulty is that the nonlinear nature of a pneumatic actuator is worsened when it uses on/off solenoid valves instead of servovalves.…”

Section: Introductionmentioning

confidence: 99%

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Improved tracking and switching performance of an electro-pneumatic positioning system

Hodgson

Tavakoli

et al. 2012

Mechatronics

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For robotic systems that use on/off (solenoid) pneumatic actuators, a sliding mode control law for precise position control and low switching (open-close) activity of the valves is presented in this paper. Given a pneumatic actuator with two chambers and four solenoid valves, there are sixteen possible input combinations defined directly from the state of the four on/off valves present in the system; however, only seven of these discrete operating modes are considered both functional and unique. Therefore, we introduce a novel seven-mode sliding controller that minimizes the position tracking error using modes that have both the necessary and sufficient amounts of drive energy and, thus, involve reduced switching activity. An analysis of the closed-loop system stability is carried out. The performance of the proposed control design is experimentally verified on a single pneumatic actuator setup comprising of two chambers with four on/off valves.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Improved tracking and switching performance of an electro-pneumatic positioning system

Hodgson

Tavakoli

et al. 2012

Mechatronics

View full text Add to dashboard Cite

show abstract

“…Improvements in pneumatic servo control performance have long been a goal of researchers and engineers. During recent years, many studies had been performed in this area with many algorithms applied to pneumatic systems, such as feedback linearization, self-tuning, fuzzy, and sliding mode controls (Kimura et al, 1997;Richardson et al, 2001;Schulte and Hahn, 2004;Girin et al, 2009). Based on the back-stepping method, the adaptive robust controller has attracted researchers' attention for its resistance to parameter uncertainties and nonlinear characteristics (Yao and Tomizuka, 1997;Smaoui et al, 2006).…”

Section: Introductionmentioning

confidence: 99%

Posture control of a 3-RPS pneumatic parallel platform with parameter initialization and an adaptive robust method

Tao

Shang

Meng

et al. 2017

J. Zhejiang Univ. - Sci. C

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A control algorithm for a 3-RPS parallel platform driven by pneumatic cylinders is discussed. All cylinders are controlled by proportional directional valves while the kinematic and dynamic properties of the system are modeled. The method of adaptive robust control is applied to the controller using a back-stepping approach and online parameter estimation. To compensate for the uncertainty and the influence caused by estimations, a fast dynamic compensator is integrated in the controller design. To prevent any influence caused by the load applied to the moving platform changing in a practical working situation, the identification of parameters is taken as the initialization of unknown parameters in the controller, which can improve the adaptability of the algorithm. Using these methods, the response rate of the parameter estimation and control performance were improved significantly. The adverse effects of load and restriction forces were eliminated by the initialization and online estimation. Experiments under different situations illustrated the effectiveness of the adaptive robust controller with parameter initialization, approaching average tracking errors of less than 1%.

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“…Moreover, they permit to set actuators' compliance up more easily than with electric ones by controlling the amount of air inside both chambers [10], [11]. However, they suffer from drawbacks including friction and variation of the actuator dynamics to load and piston position along the cylinder stroke [12] and accurate position control of such actuators is difficult due to the nonlinear dynamics [13]. Despite these difficulties, this kind of systems could be found in medical robotics applications for needle insertion, MRI compliant telerobots (where electric actuators are banned) [14], and exoskeletons [15] for rehabilitation purpose.…”

Section: Introductionmentioning

confidence: 99%

Nonlinear Discontinuous Dynamics Averaging and PWM-Based Sliding Control of Solenoid-Valve Pneumatic Actuators

Hodgson

Tavakoli

Pham

et al. 2015

IEEE/ASME Trans. Mechatron.

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Abstract-A pneumatic actuator with solenoid valves is a discontinuous-input system because each valve can be either in on or off state. For such an actuator, this paper proposes a slidingmode control scheme that is based on an averaged continuousinput model of the discontinuous-input open-loop system. The averaged model is obtained from the nonlinear dynamics of the open-loop system undergoing pulse-width-modulation (PWM) at the input (i.e., valve open/close action). The PWM duty cycle will be regarded as a continuous input to the proposed averaged model, and thus generated by the proposed slidingmode controller.For the sliding control design, we note that a pneumatic actuator has two chambers with a total of four on/off valves. Thus, there are sixteen possible combinations for valves' switching. Seven of these sixteen operating "modes" are considered both functional and unique. The proposed sliding control utilizes and switches between these seven modes of the open-loop system in order to select the ones with necessary and sufficient amounts of drive energy. In comparing the new 7-mode controller to previous controllers, we will demonstrate reductions in the position tracking error and the number of switches made by the actuator's on/off valves. The proposed control scheme is used in both position control of a pneumatic cylinder and bilateral control of a one degree of freedom teleoperation system. Experimental results are presented to validate our theoretical findings.

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High-Order Sliding-Mode Controllers of an Electropneumatic Actuator: Application to an Aeronautic Benchmark

Cited by 88 publications

References 37 publications

Improved tracking and switching performance of an electro-pneumatic positioning system

Improved tracking and switching performance of an electro-pneumatic positioning system

Posture control of a 3-RPS pneumatic parallel platform with parameter initialization and an adaptive robust method

Nonlinear Discontinuous Dynamics Averaging and PWM-Based Sliding Control of Solenoid-Valve Pneumatic Actuators

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