Nonlinear control of a pneumatic actuator based on a dynamic friction model

Bo Tran, Xuan (author)

This paper presents a new controller for the position of a pneumatic actuator. The controller is designed based on the multiple-surface sliding control method in combination with a frictional compensator. The multiple-surface sliding control method is applied to deal with the nonlinear characteristics of the pneumatic system, and the frictional compensator is applied to compensate for the friction force in the pneumatic actuator. The friction force is estimated based on a dynamic friction model (the LuGre model). Both simulation and experimental studies are done to evaluate the new controller. The evaluation results indicate significant improvement in the tracking position error of the new controller comparing to the multiple-surface sliding controller without friction compensation and other nonlinear controllers.

• Language: English
• Keywords: pneumatic actuator, nonlinear control, friction compensation, dynamic friction model
• Work type: Article
• Typology: 1.01 - Original Scientific Article
• Organization: FS - Faculty of Mechanical Engineering
• Publication status: Published
• Publication version: Version of Record
• Year: 2021
• Number of pages: Str. 458-472
• Numbering: Vol. 67, no. 9
• PID: 20.500.12556/RUL-132159
• UDC: 621.5:62-5(045)
• ISSN on article: 0039-2480
• DOI: 10.5545/sv-jme.2021.7236
• COBISS.SI-ID: 80467203
• Publication date in RUL: 14.10.2021

Record is a part of a journal

• Title: Strojniški vestnik
• Shortened title: Stroj. vestn.
• Publisher: Zveza strojnih inženirjev in tehnikov Slovenije [etc.], = Association of Mechanical Engineers and Technicians of Slovenia [etc.
• ISSN: 0039-2480
• COBISS.SI-ID: 762116

Secondary language

• Language: Slovenian
• Title: Nelinearno vodenje pnevmatskega aktuatorja na osnovi dinamičnega modela trenja
• Keywords: pnevmatski valji, nelinearno vodenje, kompenzacija trenja, dinamični model trenja