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              Citation: Adaptive Backstepping Slide Mode Control of Pneumatic Position Servo System. Chinese Journal of Mechanical Engineering, 2016, 30(5): 1003-1009. doi: 10.3901/CJME.2016.0412.050 shu

              Adaptive Backstepping Slide Mode Control of Pneumatic Position Servo System

              • Available Online: 2016-09-05

                Fund Project: National Key Scientific and Technological Project(Grant No. 2010ZX04001-051-031), Key Program of National Natural Science Foundation of China((Grant No. 61533014), and the Innovative Research Team of Shaanxi Province (Grant No. 2013KCT-04)

              • With the price decreasing of the pneumatic proportional valve and the high performance micro controller, the simple structure and high tracking performance pneumatic servo system demonstrates more application potential in many fields. However, most existing control methods with high tracking performance need to know the model information and to use pressure sensor. This limits the application of the pneumatic servo system. An adaptive backstepping slide mode control method is proposed for pneumatic position servo system. The proposed method designs adaptive slide mode controller using backstepping design technique. The controller parameter adaptive law is derived from Lyapunov analysis to guarantee the stability of the system. A theorem is testified to show that the state of closed-loop system is uniformly bounded, and the closed-loop system is stable. The advantages of the proposed method include that system dynamic models are not required for the controller design, uncertain parameters bounds are not need, and the bulk and expensive pressure sensor is not needed as well. Experimental results show that the designed controller can achieve better tracking performance, as compared with some existing methods.
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                沈阳化工大学材料科学与工程学院 沈阳 110142

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