Adaptive robust motion trajectory tracking control of pneumatic cylinders

Abstract

High-accuracy motion trajectory tracking control of a pneumatic cylinder driven by a proportional directional control valve was considered. A mathematical model of the system was developed firstly. Due to the time-varying friction force in the cylinder, unmodeled dynamics, and unknown disturbances, there exist large extent of parametric uncertainties and rather severe uncertain nonlinearities in the pneumatic system. To deal with these uncertainties effectively, an adaptive robust controller was constructed in this work. The proposed controller employs on-line recursive least squares estimation (RLSE) to reduce the extent of parametric uncertainties, and utilizes the sliding mode control method to attenuate the effects of parameter estimation errors, unmodeled dynamics and disturbances. Therefore, a prescribed motion tracking transient performance and final tracking accuracy can be guaranteed. Since the system model uncertainties are unmatched, the recursive backstepping design technology was applied. In order to solve the conflicts between the sliding mode control design and the adaptive control design, the projection mapping was used to condition the RLSE algorithm so that the parameter estimates are kept within a known bounded convex set. Extensive experimental results were presented to illustrate the excellent achievable performance of the proposed controller and performance robustness to the load variation and sudden disturbance.

Keywords

servo-pneumatic system / tracking control / sliding mode control / adaptive control / parameter estimation

References

[1] BrunX, BelgharbiM, SesmatS, ScavardaS. Control of an electropneumatic actuator: Comparison between some linear and non-linear control laws [J]. Proc IMechE, Part I, Journal of Systems and Control Engineering, 1999, 213(5): 387-406

[2] SitumZ, PavkovicD, NovakovicB. Servo pneumatic position control using fuzzy PID gain scheduling [J]. J Dyn Syst, Meas, Control, 2004, 126(2): 376-387

[3] TaghizadehM, NajafiF, GhaffariA. Multimodel PD-control of a pneumatic actuator under variable loads [J]. Int J Adv Manuf Technol, 2010, 48: 655-662

[4] LeeH K, ChoiG S, ChoiG H. A study on tracking position control pneumatic actuators [J]. Mechatronics, 2002, 12: 813-831

[5] KhayatiK, BigrasP, DessaintL A. LuGre model-based friction compensation and positioning control for a pneumatic actuator using multi-objective output-feedback control via LMI optimization [J]. Mechatronics, 2009, 19: 535-547

[6] RichardE, ScavardaS. Comparison between linear and nonlinear control of an electropneumatic servodrive [J]. J Dyn Syst, Meas, Control, 1996, 118(2): 245-252

[7] WangJ, WangD J D, MooreP R, PuJ. Modelling study, analysis and robust servocontrol of pneumatic cylinder actuator systems [J]. IEE Proc-Control Theory Appl., 2001, 148(1): 35-42

[8] XiangF, WikanderJ. Block-oriented approximate feedback linearization for control of pneumatic actuator systems [J]. Control Engineering Practice, 2004, 12: 387-399

[9] SchulteH, HahnH. Fuzzy state feedback gain scheduling control of servo-pneumatic actuators [J]. Control Engineering Practice, 2004, 12: 639-650

[10] NingS, BoneG M. Experimental comparison of two pneumatic servo position control algorithms [C]. Proceedings of IEEE International Conference on Mechatronics and Automation, 200537-42

[11] GirinA, PlestanF, BrunX, GlumineauA. High-order sliding-mode controllers of an electropneumatic actuator: Application to an aeronautic benchmark [J]. IEEE Transactions on Control Systems Technology, 2009, 17(3): 633-645

[12] ChenH M, ChenZ Y, ChungM C. Implementation of an integral sliding model controller for a pneumatic cylinder position servo control system [C]. 2009 Fourth International Conference on Innovative Computing, Information and Control, 2009552-555

[13] RichardsonR, PlummerA R, BrownM D. Self-tuning control of a low-friction pneumatic actuator under the influence of gravity [J]. IEEE Transactions on Control Systems Technology, 2001, 9(2): 330-334

[14] SmaouiM, BrunX, ThomassetD. A study on tracking position control of an electropneumatic system using backstepping design [J]. Control Engineering Practice, 2006, 14: 923-933

[15] TsaiY C, HuangA C. Multiple-surface sliding controller design for pneumatic servo systems [J]. Mechatronics, 2008, 18: 506-512

[16] RaoZ, BoneG M. Nonlinear modeling and control of servo pneumatic actuators [J]. IEEE Transactions on Control Systems Technology, 2008, 16(3): 562-569

[17] CameiroJ F, AlmeidaF G. A high-accuracy trajectory following controller for pneumatic devices [J]. Int J Adv Manuf Technol, 2012, 61(1/2/3/4): 253-267

[18] MengD-y, TaoG-l, ChenJ-f, BanWei. Modeling of a pneumatic system for high-accuracy position control [C]. International Conference on Fluid Power and Mechatronics, Beijing, China, 2011505-510

[19] YaoB. High performance adaptive robust control of nonlinear systems: A general framework and new schemes [C]. Proc of the 36th Conference on Decision and Control, 19972489-2494

[20] YaoB, TomizukaM. Adaptive robust control of SISO nonlinear systems in semi-strict feedback form [J]. Automatica, 1997, 33(5): 893-890

[21] YaoB, BuF, ReedyJ, ChiuG. Adaptive robust motion control of single-rod hydraulic actuators: theory and experiments [J]. IEEE/ASME Transactions on Mechatronics, 2000, 5(1): 79-91

[22] XuL, YaoB. Adaptive robust precision motion control of linear motors with negligible electrical dynamics: Theory and experiments [J]. IEEE/ASME Transactions on Mechatronics, 2001, 6(4): 444-452

[23] ZhuX-c, TaoG-l, YaoB, CaoJian. Adaptive robust posture control of a parallel manipulator driven by pneumatic muscles [J]. Automatica, 2008, 44(9): 2248-2257

[24] ArmstrongB, DupontP, CanudasC. A survey of models, analysis tools and compensation methods for the control of machines with friction [J]. Automatica, 1994, 30(7): 1083-1138

[25] KagawaT, TokashikiL R, FujitaT. Influence of air temperature change on equilibrium velocity of pneumatic cylinders [J]. J Dyn Syst, Meas, Control, 2002, 124(2): 336-341

[26] CameiroJ F, AlmeidaF G. Reduced-order thermodynamics models for servo-pneumatic actuator chambers: Proc IMechE^(Part I) [J]. Journal of Systems and Control Engineering, 2006, 220(4): 301-314

[27] GoodwinG C, MayneD Q. A parameter estimation perspective of continuous time model reference adaptive control [J]. Automatica, 1987, 23(1): 57-70

[28] YaoB. Integrated direct/indirect adaptive robust control of SISO nonlinear systems in semi-strict feedback form [C]. Proceedings of the American Control Conference, 20033020-3025

[29] LandauI D, LozanoR, M’saadMAdaptive control [M], 1998New YorkSpringer-Verlag167-188