In this article we present two nonlinear force controllers based on the sliding mode control theory. For this purpose we use the detailed mathematical model of the pneumatic system developed in the first part of the paper. The first controller is based on the complete model, and exhibits superior performance both in the numerical simulation and experiments, but requires complex online computations for the control law. The second controller neglects the valve dynamics and the time delay due to connecting tubes. The performance of this controller exhibits slight degradation for configurations with relatively short tubes, and at frequencies up to 20 Hz. At higher frequencies or when long connecting tubes are used, however, the performance exhibits significant degradation compared to the one provided by the full order controller. [S0022-0434(00)00703-6]
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September 2000
Technical Papers
A High Performance Pneumatic Force Actuator System: Part II—Nonlinear Controller Design
Edmond Richer,
Edmond Richer
Southern Methodist University, School of Engineering and Applied Science, Mechanical Engineering Department, Dallas, TX 75275
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Yildirim Hurmuzlu
Yildirim Hurmuzlu
Southern Methodist University, School of Engineering and Applied Science, Mechanical Engineering Department, Dallas, TX 75275
Search for other works by this author on:
Edmond Richer
Southern Methodist University, School of Engineering and Applied Science, Mechanical Engineering Department, Dallas, TX 75275
Yildirim Hurmuzlu
Southern Methodist University, School of Engineering and Applied Science, Mechanical Engineering Department, Dallas, TX 75275
Contributed by the Dynamic Systems and Control Division for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received by the Dynamic Systems and Control Division June 23, 1999. Associate Technical Editor: S. Nair.
J. Dyn. Sys., Meas., Control. Sep 2000, 122(3): 426-434 (9 pages)
Published Online: June 23, 1999
Article history
Received:
June 23, 1999
Citation
Richer, E., and Hurmuzlu, Y. (June 23, 1999). "A High Performance Pneumatic Force Actuator System: Part II—Nonlinear Controller Design ." ASME. J. Dyn. Sys., Meas., Control. September 2000; 122(3): 426–434. https://doi.org/10.1115/1.1286366
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