Practical Design of a Sliding Mode Controller for Pneumatic Actuators

[+] Author and Article Information
Shunmugham R. Pandian, Yoshinori Kanazawa, Yoshiyuki Kamoyama, Sadao Kawamura

Ritsumeikan University, Kusatsu 525 Japan

Yasuhiro Hayakawa

Department of Control Engineering, National College of Tectinology, Nara 639 Japan

J. Dyn. Sys., Meas., Control 119(4), 666-674 (Dec 01, 1997) (9 pages) doi:10.1115/1.2802376 History: Received October 01, 1996; Online December 03, 2007


Pneumatic robot manipulators are characterized by high-order, time-variant actuator dynamics, nonlinearities due to compressibility of air, external disturbances such as static and Coulomb friction, and wide range of payload variations. Conventional PID controllers suffer from problems of gain tuning under these conditions. In this paper, a new control algorithm is proposed for the position and trajectory control of pneumatic actuators based on the sliding mode control approach. The stability of motion is proved for the case of a linear, time-invariant switching surface. A disadvantage of using sliding mode control for third- and higher-order mechanical systems is the need for acceleration feedback. In this paper, to overcome this difficulty we propose the use of differential pressure. The proposed controller is simple, easy to implement, and robust to payload and parametric variations. The effectiveness of the new scheme for position and trajectory control is illustrated by experiments on an industrial piston-driven cylindrical actuator with proportional valves.

Copyright © 1997 by The American Society of Mechanical Engineers
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