Nonlinear adaptive and tracking control of a pneumatic actuator via immersion and invariance

The present publication is focussed on the application of the immersion and invariance (I&I) control methodology on a pneumatic actuator. The utilization of I&I for tracking control is investigated and a tracking theorem is explicitly provided and proved. Based on this theorem, a tracking controller for the nonlinear system is designed. Furthermore, in order to deal with unknown parameters, we state and prove an adaptive tracking theorem. Using this theorem, the designed controller is extended in order to be able to estimate the current friction force. This renders the controller adaptive and enhances its tracking capability. Simulations as well as measurement results show the excellent performance of the adaptive I&I tracking controller.

[1]  Harald Aschemann,et al.  Adaptive friction compensation based on the LuGre model for a pneumatic rodless cylinder , 2009, 2009 35th Annual Conference of IEEE Industrial Electronics.

[2]  Alessandro Astolfi,et al.  Immersion and invariance: a new tool for stabilization and adaptive control of nonlinear systems , 2001, IEEE Trans. Autom. Control..

[3]  Oliver Sawodny,et al.  Valve flow rate identification and robust force control for a pneumatic actuator used in a flight simulator , 2012, 2012 American Control Conference (ACC).

[4]  Alessandro Astolfi,et al.  Towards applied nonlinear adaptive control , 2007, Annu. Rev. Control..

[5]  R. Riener,et al.  Comparison of MRI-Compatible Mechatronic Systems With Hydrodynamic and Pneumatic Actuation , 2008, IEEE/ASME Transactions on Mechatronics.

[6]  K.J. Astrom,et al.  Revisiting the LuGre friction model , 2008, IEEE Control Systems.

[7]  Kelly Lee.  A practical scan re-use scheme for system test , 2010, 2010 IEEE International Test Conference.

[8]  Perry Y. Li,et al.  PASSIVE BILATERAL TELE-OPERATION AND HUMAN POWER AMPLIFICATION WITH PNEUMATIC ACTUATORS , 2009 .

[9]  V.A. Gelezevicius,et al.  Electropneumatic servo system with adaptive force controller , 2008, 2008 13th International Power Electronics and Motion Control Conference.

[10]  Lian-Wang Lee,et al.  A Fourier series-based adaptive sliding-mode controller for nonlinear pneumatic servo systems , 2010, International Conference on Fuzzy Systems.

[11]  Gary M. Bone,et al.  Nonlinear Modeling and Control of Servo Pneumatic Actuators , 2008, IEEE Transactions on Control Systems Technology.

[12]  Keum W. Lee,et al.  Attractive manifold-based adaptive solar attitude control of satellites in elliptic orbits , 2011 .

[13]  Mahdi Tavakoli,et al.  Sliding mode control of a pneumatic haptic teleoperation system with on/off solenoid valves , 2011, 2011 IEEE International Conference on Robotics and Automation.

[14]  Romeo Ortega,et al.  On adaptive control of nonlinearly parameterized nonlinear systems: Towards a constructive procedure , 2011, Syst. Control. Lett..

[15]  Oliver Sawodny,et al.  Application of SDRE control to servopneumatic drives , 2010, 2010 IEEE International Conference on Control Applications.

[16]  Alessandro Astolfi,et al.  Nonlinear and adaptive control with applications , 2008 .

[17]  J. Grizzle,et al.  Necessary conditions for asymptotic tracking in nonlinear systems , 1994, IEEE Trans. Autom. Control..