Abstract

This paper presents a state-averaged model and the design of nonlinear observers for an on/off pneumatic actuator. The actuator is composed of two chambers and four on/off solenoid valves. The elaborated state-averaged model has the advantage of using only one continuous input instead of four binary inputs. Based on this new model, a high-gain observer and a sliding-mode observer are designed using the actuator position and the pressure measurements in one of the chambers. Finally, their closed-loop performance is verified and compared on an experimental benchmark.

References

1.
Smaoui
,
M.
,
Brun
,
X.
, and
Thomasset
,
D.
,
2004
, “
Robust Position Control of an Electropneumatic System Using Second Order Sliding Mode
,”
IEEE International Symposium on Industrial Electronics
, Ajaccio, France, May 4–7, pp. 429–434.10.1109/ISIE.2004.1571846
2.
Smaoui
,
M.
,
Brun
,
X.
, and
Thomasset
,
D.
,
2006
, “
Systematic Control of an Electropneumatic System: Integrator Backstepping and Sliding Mode Control
,”
IEEE Trans. Control Syst. Technol.
,
14
(
5
), pp.
905
913
.10.1109/TCST.2006.880183
3.
Yamazaki
,
M.
, and
Yasunobu
,
S.
,
2007
, “
An Intelligent Control for State-Dependent Nonlinear Actuator and Its Application to Pneumatic Servo System
,”
SICE Annual Conference
, Takamatsu, Japan, Sept. 17–20, pp. 2194–2199.
10.1109/SICE.2007.4421352
4.
Tsai
,
Y. C.
, and
Huang
,
A. C.
,
2008
, “
Fat-Based Adaptive Control for Pneumatic Servo Systems With Mismatched Uncertainties
,”
Mech. Syst. Signal Process.
,
22
(
6
), pp.
1263
1273
.10.1016/j.ymssp.2007.10.011
5.
Rahmat
,
M. F.
,
Salim
,
S. N. S.
,
Faudzi
,
A. A. M.
,
Ismail
,
Z. L.
,
Samsudin
,
S. I.
,
Sunar
,
N. H.
, and
Jusoff
,
K.
,
2011
, “
Non-Linear Modeling et Cascade Control of an Industrial PneumPneumatic Actuator m
,”
Aust. J. Basic Appl. Sci.
,
5
(
8
), pp.
465
477
.
6.
Hajji
,
S.
,
Ayadi
,
A.
,
Smaoui
,
M.
,
Maatoug
,
T.
,
Farza
,
M.
, and
M'saad
,
M.
,
2019
, “
Position Control of Pneumatic System Using High Gain and Backstepping Controllers
,”
ASME J. Dyn. Syst. Meas. Control
,
141
(
8
), p.
081001
.10.1115/1.4043026
7.
Le
,
M. Q.
,
Pham
,
M. T.
,
Tavakoli
,
M.
, and
Moreau
,
R.
,
2010
, “
Development of a Hybrid Control for a Pneumatic Teleoperation System Using On/Off Solenoid Valves
,”
2010 IEEE/RSJ International Conference on Intelligent Robots and Systems
, Taipei, Taiwan, Oct. 18–22, pp.
5818
5823
.10.1109/IROS.2010.5650406
8.
Pawananont
,
K.
, and
Leephakpreeda
,
T.
,
2019
, “
Sequential Control of Multichannel on-Off Valves for Linear Flow Characteristics Via Averaging Pulse Width Modulation Without Flow Meter: An Application for Pneumatic Valves
,”
ASME J. Dyn. Syst. Meas. Control
,
141
(
1
), p.
011007
.10.1115/1.4040969
9.
Barth
,
E. J.
,
Zhang
,
J.
, and
Goldfarb
,
M.
,
2003
, “
Control Design for Relative Stability in a PWM-Controlled Pneumatic System
,”
ASME J. Dyn. Syst. Meas. Control
,
125
(
3
), pp.
504
508
.10.1115/1.1591810
10.
Utkin
,
V.
,
1977
, “
Variable Structure Systems With Sliding Modes
,”
IEEE Trans. Autom. Control
,
22
(
2
), pp.
212
222
.10.1109/TAC.1977.1101446
11.
Utkin
,
V.
,
Gulder
,
J.
, and
Shi
,
J.
,
1999
,
Sliding Mode Control in Electromechanical Systems
,
Taylor & Francis Ltd
, New York.
12.
Barth
,
E. J.
,
Zhang
,
J.
, and
Goldfarb
,
M.
,
2002
, “
Sliding Mode Approach to PWM-Controlled Pneumatic Systems
,”
Proceedings of the 2002 American Control Conference
, Anchorage, AK, May 8–10, pp.
2362
2367
.10.1109/ACC.2002.1023995
13.
Shen
,
X.
,
Zhang
,
J.
,
Barth
,
E. J.
, and
Goldfarb
,
M.
,
2004
, “
Nonlinear Averaging Applied to the Control of Pulse Width Modulated PWM Pneumatic Systems
,”
Proceedings of the 2004 American Control Conference
, Boston, MA, June 30–July 2, pp.
4444
4448
.10.23919/ACC.2004.1384009
14.
Shen
,
X.
,
Zhang
,
J.
,
Barth
,
E. J.
, and
Goldfarb
,
M.
,
2006
, “
Nonlinear Model-Based Control of Pulse Width Modulated Pneumatic Servo Systems
,”
ASME J. Dyn. Syst., Meas., Control
,
128
(
3
), pp.
663
669
.10.1115/1.2232689
15.
Hodgson
,
S.
,
Le
,
M. Q.
,
Tavakoli
,
M.
, and
Pham
,
M. T.
,
2011
, “
Sliding Mode Control of Nonlinear Discrete-Input Pneumatic Actuators
,”
International Conference on Intelligent Robots and Systems,
San Francisco, CA, Sept. 25–30, pp.
738
743
.10.1109/IROS.2011.6094518
16.
Hodgson
,
S.
,
Tavakoli
,
M.
,
Pham
,
M. T.
, and
Lelevé
,
A.
,
2014
, “
Dynamical Model Averaging and PWM Based Control for Pneumatic Actuators
,”
IEEE International Conference on Robotics and Automation
(
ICRA
), Hong Kong, China, May 31–June 7, pp.
4798
4804
.10.1109/ICRA.2014.6907561
17.
Prabel
,
R.
,
Schindele
,
D.
,
Aschermann
,
H.
, and
Butt
,
S. S.
,
2012
, “
Model-Based Control of an Electro-Pneumatic Clutch Using a Sliding-Mode Approach
,”
IEEE Conference on Industrial Electronics and Applications
(
ICIEA
), Singapore, July 18–20, pp.
1195
1200
.10.1109/ICIEA.2012.6360905
18.
Langjord
,
H.
,
Kaasa
,
G.-O.
, and
Johansen
,
T. A.
,
2010
, “
Nonlinear Observer and Parameter Estimation for Electropneumatic Clutch Actuator
,”
IFAC Symp. Nonlinear Control Syst.
,
43
(
14
), pp.
789
794
.10.3182/20100901-3-IT-2016.00099
19.
Langjord
,
H.
,
Kaasa
,
G.-O.
, and
Johansen
,
T. A.
,
2011
, “
Adaptive Observer-Based Switched Control for Electropneumatic Clutch Actuator With Position Sensor
,”
IFAC World Congr.
,
44
(
1
), pp.
4791
4796
.10.3182/20110828-6-IT-1002.00019
20.
Laib
,
K.
,
Meghnous
,
A. R.
,
Pham
,
M. T.
, and
Lin-Shi
,
X.
,
2016
, “
Averaged State Model and Sliding Mode Observer for On/Off Solenoid Valve Pneumatic Actuators
,”
2016 American Control Conference
(
ACC
), Boston, MA, July 6–8, pp.
4569
4574
.10.1109/ACC.2016.7526072
21.
Gauthier
,
J. P.
,
Hammouri
,
H.
, and
Othman
,
S.
,
1992
, “
A Simple Observer for Non Linear Systems Applications to Bioreactors
,”
IEEE Trans. Autom. Control
,
37
(
6
), pp.
875
880
.10.1109/9.256352
22.
Besançon
,
G.
, and
Hammouri
,
H.
,
1996
, “
On Uniform Observation of Nonuniformly Observable Systems
,”
Syst. Control Lett.
,
29
(
1
), pp.
9
19
.10.1016/0167-6911(96)00043-6
23.
Hammouri
,
H.
, and
Farza
,
M.
,
2003
, “
Nonlinear Observers for Locally Uniformly Observable Systems
,”
ESAIM: Control Optim. Calculus Var.
,
9
, pp.
353
370
.10.1051/cocv:2003017
24.
Batur
,
C.
, and
Zhang
,
L.
,
2003
, “
Sliding Mode Observer and Controller Design for Hydraulic Motion Control System
,”
Proceedings of the 2003 American Control Conference
, Denver, CO, June 4–6, pp.
1721
1726
.10.1109/ACC.2003.1239843
25.
Smaoui
,
M.
,
Brun
,
X.
, and
Thomasset
,
D.
,
2005
, “
A Robust Differentiator-Controller Design for an Electropneumatic System
,”
Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference
, Seville, Spain, Dec. 15, pp.
4385
4390
.10.1109/CDC.2005.1582852
26.
Boyd
,
S.
,
Ghaoui
,
L. E.
,
Feron
,
E.
, and
Balakrishnan
,
V.
,
1994
, “
Linear Matrix Inequalities in System and Control Theory
,”
SIAM Stud. Appl. Math.
, Philadelphia, PA.
You do not currently have access to this content.