Extended state observer-based pressure control for pneumatic actuator servo systems

• 作者: John Mohorcic Lili Dong
• 来源期刊: 控制理论与技术（英文版）
• 年，卷（期）: 2021,（1）
• 所属期刊栏目: RESEARCH ARTICLES
• 页码范围: 64-79
• 页数: 16页
• 语种: 英文

摘要

A pneumatic actuator is a fast and economical tool that converts compressed air into mechanical motion.In this paper,an extended state observer(ESO)-based sliding mode controller(SMC)is developed to adjust the air pressure of the actua-tor for accurate position control.Specifically,an impedance control module is established to produce desired air pressure based on the relationship between forces and desired positions.Then,the ESO-based SMC is implemented to adjust the air pressure to the required level despite the presence of system uncertainties and disturbances.As a result,the position of the actuator is controlled to a setpoint through the regulation of pressure.The performance of ESO-based SMC is compared with that of a classic active disturbance rejection controller(ADRC)and a SMC.Simulation results demonstrate that the ESO-based SMC shows comparable performance to ADRC in terms of precise pressure control.In addition,it requires the least control effort necessary to excite valves among the three controllers.The stability of ESO-based SMC is theoretically justified through Lyapunov approach.