Authors:
Kuo-Ming Chang
and
Tien-Tsai Kung
Affiliation:
National Kaohsiung University of Applied Sciences, Taiwan
Keyword(s):
Pneumatic Servo System, Adaptive Sliding Mode Control, Extended State Observer, Dead-Zone.
Related
Ontology
Subjects/Areas/Topics:
Adaptive Signal Processing and Control
;
Informatics in Control, Automation and Robotics
;
Nonlinear Signals and Systems
;
Signal Processing, Sensors, Systems Modeling and Control
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.