Position Tracking of a Pneumatic Actuator Using Backstepping-Sliding Mode Control With Adaptive Friction Observer

2013 ◽  
Author(s):  
Ramhuzaini Abd. Rahman ◽  
Nariman Sepehri
Keyword(s):  
Adverse Effect ◽  
Sliding Mode Control ◽  
Sliding Mode ◽  
Pneumatic Cylinder ◽  
Position Tracking ◽  
Pneumatic Actuators ◽  
Mode Control ◽  
Pneumatic Servo System ◽  
Backstepping Sliding Mode Control ◽  
Friction Observer

In this paper, an enhanced sliding mode control (SMC)-based controller known as backstepping-sliding mode control (B-SMC) with an adaptive friction observer is proposed for position tracking control of pneumatic actuators. The adverse effect of friction encountered in the pneumatic actuators which play a major role in pneumatic servo system is highlighted and a solution to rectify this is proposed using an adaptive LuGre-based friction observer for friction compensation. The B-SMC is experimentally applied, for the first time, on a double-acting single-rod industrial pneumatic cylinder. Comprehensive derivation as well as stability proof of the controller is presented. The performance of B-SMC with and without the friction observer is experimentally investigated. From the results, it is clearly observed that the B-SMC with the adaptive friction observer performs better (i.e. reduces the tracking as well steady-state errors of up to 30%) than the one without friction observer. Thus, the adaptive friction observer of B-SMC is identified as the key element that improved the control performance by compensating the adverse effect of friction during the position tracking tasks.

Sliding Mode Control of an Actuated Knee Joint Orthosis

2021 ◽  
Vol 15 ◽  
Author(s):  
Imen Saidi ◽  
Asma Hammami
Keyword(s):  
Sliding Mode Control ◽  
Lower Limb ◽  
Sliding Mode ◽  
Position Tracking ◽  
Sliding Mode Controller ◽  
Mechanical Device ◽  
Tracking Errors ◽  
Mode Control ◽  
Speed Tracking ◽  
Human Morphology

Introduction: In this paper, a robust sliding mode controller is developed to control an orthosis used for rehabilitation of lower limb. Materials and Methods: The orthosis is defined as a mechanical device intended to physically assist a human subject for the realization of his movements. It should be adapted to the human morphology, interacting in harmony with its movements, and providing the necessary efforts along the limbs to which it is attached. Results: The application of the sliding mode control to the Shank-orthosis system shows satisfactory dynamic response and tracking performances. Conclusion: In fact, position tracking and speed tracking errors are very small. The sliding mode controller effectively absorbs disturbance and parametric variations, hence the efficiency and robustness of our applied control.

scholarly journals Backstepping Sliding-Mode Control of Piezoelectric Single-Piston Pump-Controlled Actuator

Actuators ◽  
2021 ◽  
Vol 10 (7) ◽  
pp. 154
Author(s):  
Bin Wang ◽  
Pengda Ren ◽  
Xinhao Huang
Keyword(s):  
Sliding Mode Control ◽  
Position Control ◽  
Control Method ◽  
Sliding Mode ◽  
Piezoelectric Pump ◽  
Mode Control ◽  
Control Precision ◽  
Backstepping Sliding Mode Control ◽  
Actuator System ◽  
The Mathematical Model

A piston piezoelectric (PZT) pump has many advantages for the use of light actuators. How to deal with the contradiction between the intermittent oil supplying and position control precision is essential when designing the controller. In order to accurately control the output of the actuator, a backstepping sliding-mode control method based on the Lyapunov function is introduced, and the controller is designed on the basis of establishing the mathematical model of the system. The simulation results show that, compared with fuzzy PID and ordinary sliding-mode control, backstepping sliding-mode control has a stronger anti-jamming ability and tracking performance, and improves the control accuracy and stability of the piezoelectric pump-controlled actuator system.

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