The performance of the Dynamical Adaptive Backstepping-Sliding Mode Control (DAB-SMC) scheme for positioning of a pneumatic cylinder regulated by two types of PWM-solenoid valves is experimentally investigated. The goal is to study the compromise in controller’s performance as the system moves from using a proportional valve to employing the low-cost PWM-solenoid valves. Sinusoidal and multiple-step inputs are used as the reference position trajectories. Experimental results show that the DAB-SMC scheme works best with the proportional valve. The performance, however, deteriorates by more than twofold, once the system utilizes PWM-solenoid valves of 3/2-way or 2/2-way configurations. From this study, trade-off between performances of different types of valves applied on a DAB-SMC scheme-controlled servo positioning system is successfully documented. This information helps to configure appropriate servo-pneumatic system for positioning applications.
A Simple Visual-Servoing Task on a Low-Accuracy, Low-Cost Arm: An Experimental Comparison Between Belief Space Planning and Proportional-Integral-Derivative Controllers