Title :
A Nonlinear Controller for Pneumatic Servo Systems: Design and Experimental Tests
Author :
Riachy, Samer ; Ghanes, Malek
Author_Institution :
ECS-Lab., Nat. Super. de l´Electron. et de ses Applic., Cergy-Pontoise, France
Abstract :
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.
Keywords :
closed loop systems; differential equations; microcontrollers; nonlinear control systems; pneumatic actuators; stability; state feedback; variable structure systems; closed-loop system stability; controller attraction domain; dSPACE dS1103 microcontroller; ordinary differential equations; pneumatic cylinder control; pneumatic servo systems; state-feedback nonlinear controller; Acceleration; Asymptotic stability; Equations; Mathematical model; Pistons; Pneumatic actuators; Robustness; Nonlinear control systems; pneumatic actuators; position control; sliding-mode control;
Journal_Title :
Mechatronics, IEEE/ASME Transactions on
DOI :
10.1109/TMECH.2013.2280956
