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首页> 外文期刊>Transactions of the Institute of Measurement and Control >Position control of a servo-pneumatic actuator with mis-matched uncertainty using multiple-surface sliding mode controller and high-gain observer
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Position control of a servo-pneumatic actuator with mis-matched uncertainty using multiple-surface sliding mode controller and high-gain observer

机译：使用多表面滑动模式控制器和高增益观测器进行伺服气动执行器的位置控制和MIS匹配的不确定性

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This research develops a multiple-surface sliding mode control (MSSC) approach for position control of a servo-pneumatic system in the presence of mismatched uncertainties due to the friction force of the cylinder sealing. Servo-pneumatic actuators have many applications such as industrial automation, haptic interfaces, rehabilitation robots and non-invasive surgeries. Non-linearities due to internal and external disturbances, such as the friction force between the piston seal and cylinder wall, make it difficult to achieve adequate performance from these actuators. Thus, modelling and identification of friction parameters is an essential part of the controller design procedure. A simple model for friction such as the Stribeck model may be used in order to reduce the complexity of the identification procedure. In addition, a bounded uncertainty owing to the unmodelled dynamics of friction is considered. The lack of direct measurement for systems velocity necessitates finding a solution to estimate this parameter. One answer to this problem is to employ a high-gain observer. Whereas mismatched uncertainties appear in the state space equation of the system before control input, control input cannot apply directly to them. In the proposed framework, an MSSC scheme has been used to cope with these types of uncertainties. Asymptotic stability of the closed-loop system is proven by using the Lyapunov method; experimental results show that the proposed controller can deliver a good tracking performance and is robust to uncertainties. Experimental results validate the controller performance.
机译：该研究开发了一种多表面滑动模式控制（MSSC）方法，用于伺服气动系统的位置控制由于汽缸密封的摩擦力而在存在不匹配的不确定性的情况下。伺服气动执行器有许多应用，如工业自动化，触觉界面，康复机器人和非侵入式手术。由于内部和外部干扰导致的非线性，例如活塞密封和圆柱壁之间的摩擦力，使得难以实现这些致动器的充分性能。因此，摩擦参数的建模和识别是控制器设计过程的重要组成部分。可以使用诸如Stribeck模型的摩擦的简单模型以降低识别过程的复杂性。此外，考虑了由于摩擦摩擦的无暗模式动态的有界不确定性。系统速度缺乏直接测量需要找到估计该参数的解决方案。这个问题的一个答案是采用高增益观察者。虽然在控制输入之前，在系统的状态空间方程中出现不匹配的不确定性，但控制输入无法直接向其应用。在拟议的框架中，MSSC方案已被用于应对这些类型的不确定性。通过使用Lyapunov方法证明闭环系统的渐近稳定性;实验结果表明，所提出的控制器可以提供良好的跟踪性能，并且对不确定性具有稳健性。实验结果验证了控制器性能。

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