Continuous Sliding Mode Control of a Pneumatic Actuator

[+] Author and Article Information
B. W. Surgenor

Department of Mechanical Engineering, Queen’s University, Kingston, Ontario, Canada, K7L3N6

N. D. Vaughan

School of Mechanical Engineering, University of Bath, Bath, United Kingdom, BA27AY

J. Dyn. Sys., Meas., Control 119(3), 578-581 (Sep 01, 1997) (4 pages) doi:10.1115/1.2801298 History: Received August 01, 1995; Online December 03, 2007


Sliding mode control has been promoted as a means to overcome the nonlinearities associated with pneumatic positioning systems. Previously published performance results have been disappointing with reported accuracies of only ±5 mm and poor tracking of the sliding surface. New experimental results demonstrate that a properly designed continuous sliding mode controller (CSLM) is capable of accuracies of better than ±0.2 mm. Further, the CSLM controller is able to maintain performance when the load mass is varied by upwards of a factor of 10. Direct comparison to a conventional pro-portional differential pressure controller provides evidence that CSLM is indeed more robust than comparable controllers for this application.

Copyright © 1997 by The American Society of Mechanical Engineers
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