Reduced order sliding mode control for pneumatic actuator

摘要

A new position control algorithm, based on sliding mode control, has been developed for a pneumatic cylinder. In the proposed pneumatic system, commercially available two-way on-off solenoid valves have been used. The inherent robustness property of the sliding mode controller makes it easier to select the switching gains of the controller. Moreover, approximate dynamic modeling of the system makes the controller simple. Since in sliding mode control, the states remain on the sliding surface, the motion of the piston is very smooth. This suggests the potential of pneumatic cylinders as actuators for robot manipulators. The controller is hybrid in nature, consisting of an error amplifier, data conversion devices and an 8088 microprocessor along with various digital circuit accessories. Only one feedback device (potentiometer) is used. Velocity is calculated from the sampled position signals.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>