UTHM Institutional Repository

Design and experimental study of a dynamical adaptive backstepping–sliding mode control scheme for position tracking and regulating of a low-cost pneumatic cylinder

Abd Rahman, Ramhuzaini and Liang, He and Sepehri, Nariman (2015) Design and experimental study of a dynamical adaptive backstepping–sliding mode control scheme for position tracking and regulating of a low-cost pneumatic cylinder. International Journal of Robust and Nonlinear Control, 26 (4). pp. 853-875.

[img]
Preview
PDF
dr_ramhuzaini_(fkmp).pdf

Download (8MB)

Abstract

A dynamical adaptive backstepping–sliding mode control scheme is designed and implemented for the first time, to track and regulate the position of a low-cost pneumatically driven single-rod, double-acting cylinder. The mass flow rate of compressed air into and out of the cylinder is regulated by a 5/3-way proportional directional control valve. The derivation of the controller, utilizing a design procedure that guarantees stability of the control system, is presented first. Next, experimental evaluation of the controller is conducted with respect to performance and robustness to parametric uncertainties. Experiments employ a sinusoidal reference trajectory with tracking frequencies of 0.05, 0.1, and 0.2 Hz; a multiple-step polynomial reference trajectory having step sizes of 0.0125, 0.025, 0.05, and 0.1 m; and three external loads of 4.4, 9, and 16 kg operating in two modes (motion assisting and resisting). From over 70 experiments involving various operating conditions, average root mean square of tracking error of 1.73 mm and steady-state error of 0.71 mm are achieved for the position tracking and regulating, respectively. As compared with the classical sliding mode control scheme alone, the new controller outperforms by more than twofold. The adaptive LuGrebased friction observer applied in this control scheme significantly assists in compensating the adverse effect of friction with the average of 55% less tracking error.

Item Type: Article
Uncontrolled Keywords: pneumatic actuators;sliding mode control;position tracking and regulating
Subjects: T Technology > T Technology (General)
Divisions: Faculty of Mechanical and Manufacturing Engineering > Department of Engineering Mechanics
Depositing User: Normajihan Abd. Rahman
Date Deposited: 13 Aug 2018 03:40
Last Modified: 13 Aug 2018 03:40
URI: http://eprints.uthm.edu.my/id/eprint/8113
Statistic Details: View Download Statistic

Actions (login required)

View Item View Item

Downloads

Downloads per month over past year