A Nonlinear Controller for Pneumatic Servo Systems: Design and Experimental Tests

被引：28
|
作者：
Riachy, Samer [1 ,2 ]
Ghanes, Malek [1 ]
机构：
[1] Ecole Natl Super Elect & Ses Applicat, ECS Lab, F-95014 Cergy Pontoise, France
[2] INRIA Lille Nord Europe, Non A Team, F-78153 Le Chesnay, France
来源：
IEEE-ASME TRANSACTIONS ON MECHATRONICS | 2014年 / 19卷 / 04期
关键词：
Nonlinear control systems; pneumatic actuators; position control; sliding-mode control; CYLINDER ACTUATORS; FRICTION; DIFFERENTIATION; MODEL;
D O I：
10.1109/TMECH.2013.2280956
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper is dedicated to the problem of pneumatic cylinder control without pressure measurement. Based on the theory of homogeneous, finite-time stable, ordinary differential equations, a state-feedback nonlinear controller is proposed. The closed-loop system stability is proved and an attraction domain of the controller is given. The performances and the effectiveness of the proposed controller are illustrated against an experimental setup consisting of a pneumatic cylinder controlled by a dSPACE dS1103 microcontroller.
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页码：1363 / 1373
页数：11
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