Backstepping sliding-mode control for a pneumatic control system

C. H. Lu, Y. R. Hwang, Y. T. Shen

Research output: Contribution to journalArticlepeer-review

19 Scopus citations


In general, air motors have been applied for automation in industry. There are many kinds of air motors used in automation equipment, such as vane air motors, piston air motors, etc. The advantage of the piston air motor is that it is able to provide larger torque at low speed than air vane motors. The aim of the present study was to analyse the behaviour of such a motor, a radial piston air motor mounted on a ball screw table, and to accomplish accurate desired positioning utilizing a backstepping sliding-mode controller. Variation due to compressibility of the air and friction in the mechanism make the overall system non-linear. Two methods were applied to overcome the chattering phenomenon and control the system: the proportional-integral-derivative controller and the backstepping sliding-mode controller. Experimental results showed that the proposed backstepping sliding-mode controller apparently suppresses overshoot and provides accurate positioning performance.

Original languageEnglish
Pages (from-to)763-770
Number of pages8
JournalProceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering
Issue number6
StatePublished - 1 Sep 2010


  • backstepping sliding-mode control
  • radial piston air motors


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