Observer-based Adaptive Sliding Mode Control for a Pneumatic Servo System

Kuo-Ming Chang, Tien-Tsai Kung

Abstract

This paper combines an extended state observer (ESO) and adaptive sliding mode control to deal with the problem of nonlinear input dead-zone, unkonw system function, external distrubance and system states unmeasured in a pneumatic servo system. Firstly, an extended state observer is applied to estimate system state variables and uknown system nonlinear function contained the external disturbance, and an adaptive law is used to estimate unknown dead-zone parameters. Then, an observer-based adaptive sliding mode control can be derived for such a uncertain pneumatic servo system. Furturemore, the proposed control scheme in this paper is applied to a pneumatic positioning control experimental equipment and it is shown that the positioning accuracy with less than 0.05 can be obtained.

References

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Paper Citation


in Harvard Style

Chang K. and Kung T. (2012). Observer-based Adaptive Sliding Mode Control for a Pneumatic Servo System . In Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-8565-21-1, pages 600-604. DOI: 10.5220/0004032806000604


in Bibtex Style

@conference{icinco12,
author={Kuo-Ming Chang and Tien-Tsai Kung},
title={Observer-based Adaptive Sliding Mode Control for a Pneumatic Servo System},
booktitle={Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2012},
pages={600-604},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004032806000604},
isbn={978-989-8565-21-1},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Observer-based Adaptive Sliding Mode Control for a Pneumatic Servo System
SN - 978-989-8565-21-1
AU - Chang K.
AU - Kung T.
PY - 2012
SP - 600
EP - 604
DO - 10.5220/0004032806000604