A model reference robust multiple-surfaces design for tracking control of radial pneumatic motion systems

Chia Hua Lu, Yean Ren Hwang

Research output: Contribution to journalArticlepeer-review

6 Scopus citations

Abstract

A robust model reference backstepping (multiple-surfaces) controller is proposed for radial pneumatic motor motion systems with variable inlet pressure and mismatched uncertainties (time-varying payload). A radial pneumatic motor is first modeled by a non-autonomous equation with consideration of a ball screw table. A practical integral action and robust action are included in the backstepping design to compensate for the disturbance, mismatched uncertainty, and to eliminate the steady state error. The motion system is proved to have asymptotically stable performance and the experimental results show that the proposed controller is able to track the reference model output signal and maintain steady-state error.

Original languageEnglish
Pages (from-to)2585-2597
Number of pages13
JournalNonlinear Dynamics
Volume67
Issue number4
DOIs
StatePublished - Mar 2012

Keywords

  • Backstepping control
  • Model reference
  • Radial pneumatic motor

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