Extended state observer-based pressure control for pneumatic actuator servo systems

作     者：John Mohorcic Lili Dong John Mohorcic;Lili Dong

作者机构：Delta Systems Inc.StreetsboroOH 44241USA Department of Electrical Engineering and Computer ScienceCleveland State UniversityClevelandOH 44115.USA 

出 版 物：《Control Theory and Technology》 (控制理论与技术（英文版）)

年 卷 期：2021年第19卷第1期

页      面：64-79页

核心收录：

学科分类：0711[理学-系统科学] 07[理学] 081104[工学-模式识别与智能系统] 08[工学] 0811[工学-控制科学与工程] 071102[理学-系统分析与集成] 081103[工学-系统工程] 

主　　题：Pneumatic actuator Pressure control ESO-based SMC ADRC Impedance control module Stability proof Lyapunov approach 

摘      要：A pneumatic actuator is a fast and economical tool that converts compressed air into mechanical *** this paper,an extended state observer(ESO)-based sliding mode controller(SMC)is developed to adjust the air pressure of the actua-tor for accurate position control,Specifically,an impedance control module is established to produce desired air pressure based on the relationship between forces and desired ***,the ESO-based SMC is implemented to adjust the air pressure to the required level despite the presence of system uncertainties and *** a result,the position of the actuator is controlled to a setpoint through the regulation of *** performance of ESO-based SMC is compared with that of a classic active disturbance rciection controller(ADRC)and a *** results demonstrate that the:ESO-based SMC shows comparable performance to ADRC in terms of precise pressure *** addition,it requires the least control effort ncessary to excite valves among the three *** stability of ESO based SMC is theoretically justifed through Lyapunov approach.