Sliding-Mode Observer as a Time-Variant Estimator for Control of Pneumatic Systems

[+] Author and Article Information
Pascal Bigras

Department of Automated Production Engineering,  École de technologie supérieure, 1100, rue Notre-Dame Ouest, Montréal, Canada, H3C 1K3pascal.bigras@etsmtl.ca

J. Dyn. Sys., Meas., Control 127(3), 499-502 (Aug 17, 2004) (4 pages) doi:10.1115/1.1985438 History: Received October 24, 2003; Revised July 21, 2004; Accepted August 17, 2004

The force and position of pneumatic actuators are difficult to control, since their nonlinear model includes unknown variables such as temperature and the discharge coefficient. This paper presents a specific sliding-mode observer to estimate these unknown time-variant quantities. The stability of the estimation error is studied, and real-time results show that the proposed approach combined with a feedback linearization controller performs better than a standard sliding-mode controller.

Copyright © 2005 by American Society of Mechanical Engineers
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Grahic Jump Location
Figure 1

System hardware and software for validation

Grahic Jump Location
Figure 2

(a) Tracking error obtained with the controller combined with the proposed sliding-mode observer; (b) tracking error obtained with the standard sliding-mode controller; (c) control effort obtained with the controller combined with the proposed sliding-mode observer; and (d) control effort obtained with the standard sliding-mode controller



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