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A modified direct adaptive robust motion trajectory tracking controller of a pneumatic system

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Abstract

In this study, we developed and tested a high-precision motion trajectory tracking controller of a pneumatic cylinder driven by four costless on/off solenoid valves rather than by a proportional directional control valve. The relationship between the pulse width modulation (PWM) of a signal’s duty cycle and control law was determined experimentally, and a mathematical model of the whole system established. Owing to unknown disturbances and unmodeled dynamics, there are considerable uncertain nonlinearities and parametric uncertainties in this pneumatic system. A modified direct adaptive robust controller (DARC) was constructed to cope with these issues. The controller employs a gradient type adaptation law based on discontinuous projection mapping to guarantee that estimated unknown model parameters stay within a known bounded region, and uses a deterministic robust control strategy to weaken the effects of unmodeled dynamics, disturbances, and parameter estimation errors. By using discontinuous projection mapping, the parameter adaptation law and the robust control law can be synthesized separately. A recursive backstepping technology is applied to account for unmatched model uncertainties. Kalman filters were designed separately to estimate the motion states and the derivative of the intermediate control law in synthesizing the deterministic robust control law. Experimental results illustrate the effectiveness of the proposed controller.

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Authors and Affiliations

  1. The State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University, Hangzhou, 310027, China

    Peng-fei Qian, Guo-liang Tao & Hao Liu

  2. School of Mechatronic Engineering, China University of Mining and Technology, Xuzhou, 221116, China

    De-yuan Meng

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  1. Peng-fei Qian
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  2. Guo-liang Tao
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  3. De-yuan Meng
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  4. Hao Liu
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Correspondence to Peng-fei Qian.

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Qian, Pf., Tao, Gl., Meng, Dy. et al. A modified direct adaptive robust motion trajectory tracking controller of a pneumatic system. J. Zhejiang Univ. - Sci. C 15, 878–891 (2014). https://doi.org/10.1631/jzus.C1400003

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  • DOI: https://doi.org/10.1631/jzus.C1400003

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