Analysis and Modeling of a Pneumatic Servo System Based on Backstepping Design

2011 ◽  
Vol 133 (6) ◽  
Author(s):  
Chia-Hua Lu ◽  
Yean-Ren Hwang ◽  
Yu-Ta Shen ◽  
Tzu-Yu Wang
Keyword(s):  
Sliding Mode ◽  
Low Cost ◽  
Tracking Error ◽  
Backstepping Design ◽  
Servo Systems ◽  
Air Motor ◽  
Motion System ◽  
Control Precision ◽  
Pneumatic Servo System ◽  
Table Motion

Air motors have often been utilized in industrial servo systems in the automation industry due to their advantages such as small volume, low cost, light weight, convenience of operation, and no overheating problems. Recently, the development of control technology has improved, making the requirements for control precision higher than ever before. Accurate control performance in pneumatic systems is facilitated by the implementation of nonlinear control techniques. The purpose of this study is to analyze the behavior of a biaxial pneumatic table motion system with a vane-type air motor, and to design a backstepping sliding mode controller for this system. A proportional integral derivative controller compared with this new backstepping design. The tracking circle error and tracking error of the two axes are noted. The experimental results show that accurate tracking circle trajectory performance can be achieved with the proposed controller.

Backstepping sliding mode tracking control of a vane-type air motor table motion system

2011 ◽  
Vol 50 (2) ◽  
pp. 278-286 ◽  
Author(s):  
Chia-Hua Lu ◽  
Yean-Ren Hwang ◽  
Yu-Ta Shen
Keyword(s):  
Tracking Control ◽  
Sliding Mode ◽  
Air Motor ◽  
Motion System ◽  
Table Motion ◽  
Mode Tracking

scholarly journals Finite-Time Composite Position Control for a Disturbed Pneumatic Servo System

2016 ◽  
Vol 2016 ◽  
pp. 1-10 ◽  
Author(s):  
Xiaojun Wang ◽  
Jiankun Sun ◽  
Guipu Li
Keyword(s):  
Finite Time ◽  
State Feedback ◽  
Position Control ◽  
Sliding Mode ◽  
State Feedback Control ◽  
Servo Systems ◽  
Control Approach ◽  
Composite Control ◽  
Control Scheme ◽  
Pneumatic Servo System

This paper investigates the finite-time position tracking control problem of pneumatic servo systems subject to hard nonlinearities and various disturbances. A finite-time disturbance observer is firstly designed, which guarantees that the disturbances can be accurately estimated in a finite time. Then, by combining disturbances compensation and state feedback controller together, a nonsmooth composite controller is developed based on sliding mode control approach and homogeneous theory. It is proved that the tracking errors under the proposed composite control approach can be stabilized to zero in finite time. Moreover, compared with pure state feedback control, the proposed composite control scheme offers a faster convergence rate and a better disturbance rejection property. Finally, numerical simulations illustrate the effectiveness of the proposed control scheme.

Adaptive terminal sliding-mode controller based on characteristic model for gear transmission servo systems

2018 ◽  
Vol 41 (1) ◽  
pp. 219-234 ◽  
Author(s):  
Xiang Wang ◽  
Yifei Wu ◽  
Enze Zhang ◽  
Jian Guo ◽  
Qingwei Chen
Keyword(s):  
Sliding Mode ◽  
Tracking Error ◽  
Second Order ◽  
Gear Transmission ◽  
Mathematics Model ◽  
Sliding Mode Controller ◽  
Terminal Sliding Mode ◽  
Servo Systems ◽  
Characteristic Model ◽  
Bounded Set

Backlash and inertia variations, which exist in gear transmission servo systems, often bring inaccuracies, oscillations or even instability. This paper presents an adaptive second-order discrete terminal sliding-mode controller (2-ADTSMC) to deal with the problem. The main contributions of this paper are as follows. First, the characteristic model of gear transmission servo system, which reduces the complexity of traditional mathematics model, is established to describe the load inertia variations. Second, the second-order discrete terminal sliding-mode control is firstly designed based on the characteristic model to restrain the backlash effect. Third, theoretical analysis proves that the quasi-sliding mode is reached in finite steps and the tracking error converges into a bounded set in finite steps. The improvement of tracking performance is verified by simulation and experimental results.

PID Sliding Mode Control of Prolate Flexible Pneumatic Actuators

2016 ◽  
Author(s):  
Jonathon E. Slightam ◽  
Mark L. Nagurka
Keyword(s):  
Sliding Mode Control ◽  
Position Control ◽  
Sliding Mode ◽  
Low Cost ◽  
Tracking Error ◽  
Pneumatic Actuators ◽  
Model Based ◽  
Mode Control ◽  
Significant Performance ◽  
Soft Actuators

The inherent compliance, high power-density, and musclelike properties of soft actuators are especially attractive and useful in many applications, including robotics. In comparison to classical/modern control approaches, model-based control techniques, e.g., sliding mode control (SMC), applied to flexible fluidic actuators (FFAs) offer significant performance advantages and are considered to be state-of-the-art. Improvements in position tracking are possible using nonlinear control approaches that offer enhanced performance for common applications such as tracking of sinusoidal trajectories at high frequencies. This paper introduces a SMC approach that increases the tracking capabilities of prolate flexible pneumatic actuators (PF-PAs). A model-based proportional, integral, derivative sliding mode control (PIDSMC) approach designed for position control of PFPAs is proposed. SMC and PIDSMC systems are implemented on low-cost open-source controls hardware and tested for tracking sinusoidal trajectories at frequencies of 0.5 Hz and 1.0 Hz with an amplitude of 8.255 mm and an offset of 12.7 mm. The PIDSMC approach reduced the maximum tracking error by 20.0%, mean error by 18.6%, and root-mean-square error by 10.5% for a 1 Hz sinusoidal trajectory and by 8.7%, 14.7%, and 3.8%, respectively, for a 0.5 Hz sinusoidal trajectory. These reductions in tracking errors demonstrate performance advantages of the PIDSMC over conventional sliding mode position controllers.

scholarly journals Robust Tracker of Hybrid Microgrids by the Invariant-Ellipsoid Set

Electronics ◽  
2021 ◽  
Vol 10 (15) ◽  
pp. 1794
Author(s):  
Hilmy Awad ◽  
Ehab H. E. Bayoumi ◽  
Hisham M. Soliman ◽  
Michele De Santis
Keyword(s):  
Sliding Mode ◽  
Tracking Error ◽  
Nonlinear Dynamical System ◽  
Sufficient Conditions ◽  
Linear Matrix ◽  
Nonlinear Dynamical ◽  
Load Variations ◽  
Invariant Ellipsoid ◽  
Steady State Responses ◽  
Linearized Model

This paper introduces a new ellipsoidal-based tracker design to control a grid-connected hybrid direct current/alternating current (DC/AC) microgrid (MG). The proposed controller is robust against both parameters and load variations. The studied hybrid MG is modelled as a nonlinear dynamical system. A linearized model around an operating point is developed. The parameter changes are modelled as norm-bounded uncertainties. We apply the new extended version of the attractive (or invariant) ellipsoid for this tracking problem. Convex optimization is used to obtain the region’s minimal size where the tracking error between the state trajectories and the reference states converges. The sufficient conditions for stability are derived and solved based on linear matrix inequalities (LMIs). The proposed controller’s validity is shown via simulating the hybrid MG with various operational scenarios. In each scenario, the performance of the controller is compared with a recently proposed sliding mode controller. The comparison clearly illustrates the superiority of the developed controller in terms of transient and steady-state responses.

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.

scholarly journals Observer-based adaptive neural network backstepping sliding mode control for switched fractional order uncertain nonlinear systems with unmeasured states

2021 ◽  
pp. 002029402110211
Author(s):  
Tao Chen ◽  
Damin Cao ◽  
Jiaxin Yuan ◽  
Hui Yang
Keyword(s):  
Neural Network ◽  
Nonlinear Systems ◽  
Sliding Mode Control ◽  
Fractional Order ◽  
Sliding Mode ◽  
Tracking Error ◽  
Adaptive Neural Network ◽  
Dynamic Surface ◽  
Mode Control ◽  
The Stability

This paper proposes an observer-based adaptive neural network backstepping sliding mode controller to ensure the stability of switched fractional order strict-feedback nonlinear systems in the presence of arbitrary switchings and unmeasured states. To avoid “explosion of complexity” and obtain fractional derivatives for virtual control functions continuously, the fractional order dynamic surface control (DSC) technology is introduced into the controller. An observer is used for states estimation of the fractional order systems. The sliding mode control technology is introduced to enhance robustness. The unknown nonlinear functions and uncertain disturbances are approximated by the radial basis function neural networks (RBFNNs). The stability of system is ensured by the constructed Lyapunov functions. The fractional adaptive laws are proposed to update uncertain parameters. The proposed controller can ensure convergence of the tracking error and all the states remain bounded in the closed-loop systems. Lastly, the feasibility of the proposed control method is proved by giving two examples.

SateLoc: A Virtual Fingerprinting Approach to Outdoor LoRa Localization Using Satellite Images

2021 ◽  
Vol 17 (4) ◽  
pp. 1-28
Author(s):  
Yuxiang Lin ◽  
Wei Dong ◽  
Yi Gao ◽  
Tao Gu
Keyword(s):  
Land Cover ◽  
Large Scale ◽  
Satellite Images ◽  
Low Cost ◽  
Tracking Error ◽  
Location Based Services ◽  
Distance Constraint ◽  
Combination Strategy ◽  
Land Cover Types ◽  
High Resolution Satellite Images

With the increasing relevance of the Internet of Things and large-scale location-based services, LoRa localization has been attractive due to its low-cost, low-power, and long-range properties. However, existing localization approaches based on received signal strength indicators are either easily affected by signal fading of different land-cover types or labor intensive. In this work, we propose SateLoc, a LoRa localization system that utilizes satellite images to generate virtual fingerprints. Specifically, SateLoc first uses high-resolution satellite images to identify land-cover types. With the path loss parameters of each land-cover type, SateLoc can automatically generate a virtual fingerprinting map for each gateway. We then propose a novel multi-gateway combination strategy, which is weighted by the environmental interference of each gateway, to produce a joint likelihood distribution for localization and tracking. We implement SateLoc with commercial LoRa devices without any hardware modification, and evaluate its performance in a 227,500-m urban area. Experimental results show that SateLoc achieves a median localization error of 43.5 m, improving more than 50% compared to state-of-the-art model-based approaches. Moreover, SateLoc can achieve a median tracking error of 37.9 m with the distance constraint of adjacent estimated locations. More importantly, compared to fingerprinting-based approaches, SateLoc does not require the labor-intensive fingerprint acquisition process.

scholarly journals Control of an IPMC Soft Actuator Using Adaptive Full-Order Recursive Terminal Sliding Mode

Actuators ◽  
2021 ◽  
Vol 10 (2) ◽  
pp. 33
Author(s):  
Romina Zarrabi Ekbatani ◽  
Ke Shao ◽  
Jasim Khawwaf ◽  
Hai Wang ◽  
Jinchuan Zheng ◽  
...  
Keyword(s):  
Sliding Mode ◽  
External Disturbance ◽  
Tracking Error ◽  
Working Environment ◽  
Parametric Uncertainties ◽  
Metal Composite ◽  
External Disturbances ◽  
Terminal Sliding Mode ◽  
Positioning Accuracy ◽  
Soft Actuator

The ionic polymer metal composite (IPMC) actuator is a kind of soft actuator that can work for underwater applications. However, IPMC actuator control suffers from high nonlinearity due to the existence of inherent creep and hysteresis phenomena. Furthermore, for underwater applications, they are highly exposed to parametric uncertainties and external disturbances due to the inherent characteristics and working environment. Those factors significantly affect the positioning accuracy and reliability of IPMC actuators. Hence, feedback control techniques are vital in the control of IPMC actuators for suppressing the system uncertainty and external disturbance. In this paper, for the first time an adaptive full-order recursive terminal sliding-mode (AFORTSM) controller is proposed for the IPMC actuator to enhance the positioning accuracy and robustness against parametric uncertainties and external disturbances. The proposed controller incorporates an adaptive algorithm with terminal sliding mode method to release the need for any prerequisite bound of the disturbance. In addition, stability analysis proves that it can guarantee the tracking error to converge to zero in finite time in the presence of uncertainty and disturbance. Experiments are carried out on the IPMC actuator to verify the practical effectiveness of the AFORTSM controller in comparison with a conventional nonsingular terminal sliding mode (NTSM) controller in terms of smaller tracking error and faster disturbance rejection.

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